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Journal of Intelligent and Connected Vehicles 2023年第1期6卷 46-63页

作者： Changhua Dai Changfu Zong Dong Zhang Gang Li Kaku Chuyo Hongyu Zheng Fei Gao State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China Department of Mechanical and Aerospace Engineering Brunel University LondonUB83PHUK College of Automobile and Traffic Engineering Liaoning University of TechnologyJinzhou 121000China Jiangsu Chaoli Electric Co. Ltd.Danyang 212300China

The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving(HMSD)technology from the automation ***,a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is ***,in order to make the planned trajectory close to human behavior,naturalistic driving data is collected,based on which some lane-changing performance features are selected and *** are three aspects have been taken into consideration for the human-like lane-changing trajectory:vehicle dynamic stability performance,driving cost optimization,and collision ***,the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning *** results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD ***,it could be further employed as an empirical trajectory prediction *** algorithm employs the distribution state of the historical trajectory for human-like processing,simplifying the operational process and ensuring the credibility,integrity,and interpretability of the ***,in terms of optimization processing,the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation ***,a new convex polygon collision detection method,namely the vertex embedding method,is proposed for collision avoidance detection.

关键词： human-machine conflict human-machine shared driving(HMSD) human-like lane-changing trajectory planning collision avoidance trajectory prediction

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