智能汽车换道轨迹的燃油经济性研究

In this article, the fuel economy of lane changing trajectories was studied based on the space and trajectory curvature constraints of intelligent vehicle. Based on an engine transient fuel consumption model, the most economical speed for driving on the flat roads was calculated, and the third-order Bezier lane changing trajectory model was established for various constraints. The results of Matlab/Simulink and Carsim co-simulation verification show that, the fuel consumption of the Bezier lane changing trajectory developed in the paper is 3.49% and 0.77% less than the existing sin-tanh and x-sin lane changing trajectories, and its maximum lateral acceleration value is also 31.75% and 7.45% lower than sin-tanh and x-sin lane changing trajectories respectively. Therefore, on the basis of ensuring the safe and comfortable driving of intelligent vehicles, the fuel consumption of vehicle is the least by Bezier lane changing trajectory, and the corresponding maximum lateral acceleration is also the smallest. All those prove the superiority of the Bezier lane-changing trajectory.