考虑地面附着系数的换道博弈策略研究

针对自动驾驶车辆的高速换道行为,文章提出一种考虑地面附着系数的换道博弈策略,以提高汽车换道的安全性和舒适性。首先,考虑附着系数建立换道博弈模型,设计车辆换道博弈策略,并利用纳什均衡进行求解;然后,基于五次多项式进行换道时的路径规划,并设计模型预测控制器,实现换道过程中的路径跟踪控制;最后,基于MATLAB和CarSim进行联合仿真验证。结果表明,文章所提出的考虑附着系数的换道博弈策略可以保证横向跟踪误差在0.1 m之内、侧向加速度在0.2 g以内,有效提高了自动驾驶车辆的安全性和舒适性。

A lane-changing game strategy considering road adhesion coefficient is proposed for high-speed lane changing of autonomous vehicles, aiming to improve the safety and comfort of vehicle lane changing. Firstly, a lane-changing game model is established considering road adhesion coefficient, and a vehicle lane-changing game strategy is designed and solved using Nash equilibrium. Secondly, a fifth-degree polynomial is used for path planning during lane changing, and a model predictive controller is designed to achieve path tracking control during lane changing. Finally, joint simulations are conducted based on MATLAB and CarSim, and the results show that the proposed lane-changing game strategy considering road adhesion coefficient ensures a lateral tracking error within 0.1 m and a lateral acceleration within 0.2 g. This effectively enhances the safety and comfort of autonomous vehicles.