智能汽车换道轨迹的燃油经济性研究

金辉; 赵延杰; 光昊

doi:10.15918/j.tbit1001-0645.2021.250

智能汽车换道轨迹的燃油经济性研究

doi: 10.15918/j.tbit1001-0645.2021.250

北京理工大学机械与车辆学院，北京　100081

基金项目: 国家自然科学基金资助项目（51875040）

详细信息

作者简介:
金辉（1972—），男，工学博士，副教授，E-mail: jinhui@bit.edu.cn

中图分类号: TK01
计量
- 文章访问数: 57
- HTML全文浏览量: 31
- PDF下载量: 0
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-15
- 刊出日期: 2022-08-17

Fuel Economy of Lane Changing Trajectory for Intelligent Vehicle

School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 基于智能汽车行驶的空间约束和运动轨迹曲率约束等限制，对换道轨迹的燃油经济性进行了研究. 基于发动机瞬态油耗模型，确定了平路行驶的最经济车速，并建立了能满足各种约束的3阶贝塞尔换道轨迹模型. 通过Matlab/Simulink与Carsim联合仿真验证，文中设计的贝塞尔换道轨迹的油耗分别比已有的sin-tanh和x-sin换道轨迹节油了3.49%和0.77%，其最大横向加速度值也分别比sin-tanh和x-sin换道轨迹降低了31.75%及7.45%. 因此在保证智能汽车安全舒适行驶的基础上，利用贝塞尔换道轨迹的汽车油耗更少，对应的最大横向加速度更小，表明贝塞尔换道轨迹模型具有优越性.
- 瞬态油耗模型 /
- 经济性车速 /
- 换道轨迹模型 /
- 燃油经济性评价
Abstract: 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.
- transient fuel consumption model /
- economical speed /
- lane changing trajectory model /
- fuel economy evaluation

HTML全文

图 1 单位行驶距离燃油消耗

Figure 1. Fuel consumption in unit distance

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图 2 经济车速及单位距离油耗变化曲线

Figure 2. Curve of economic speed and fuel consumption in unit distance

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图 3 贝塞尔换道轨迹示意图

Figure 3. Schematic diagram of Bezier lane changing trajectory

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图 4 贝塞尔换道轨迹示意图

Figure 4. Curve of Bezier lane changing trajectory

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图 5 联合仿真整体模型示意图

Figure 5. Schematic diagram of co-simulation overall model

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图 6 曲率变化示意图

Figure 6. Schematic diagram of curvature change

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图 7 换道轨迹经济性综合分析

Figure 7. Economic comprehensive analysis of lane changing trajectory

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表 1 换道轨迹经济性比较

Table 1. Economic comparison of lane changing trajectory

换道轨迹燃油消耗/mL 最大横向加速度/(m·s⁻²)

polynomial 2.781 1.408
Bezier 2.818 1.541

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表 2 换道轨迹经济性比较

Table 2. Economic comparison of lane changing trajectory

换道轨迹燃油消耗/mL 最大横向加速度/（m·s⁻²)

sin-tanh 2.9198 2.258
x-sin 2.8398 1.665
Bezier 2.8180 1.541

下载: 导出CSV

参考文献(8)

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