CN

Bai Haijian

Associate professor

Supervisor of Master's Candidates

Date of Birth:1980-12-31

Date of Employment:2010-07-14

School/Department:道路与交通工程系

Administrative Position:系副主任

Education Level:Postgraduate (Doctoral)

Business Address:屯溪路校区三立苑420

Gender:Male

Degree:Doctoral degree

Status:Employed

Academic Titles:教学

Alma Mater:东南大学

Discipline:Other specialties in Traffic and Transportation Engineering
Transportation Information Engineering and Control
Transportation Planning and Management

Paper Publications

柏海舰,申剑峰,卫立阳. 无人车“三阶段”换道轨迹规划过程分析

Release time:2024-03-21 Hits:

DOI number:10.3969/j.issn.1003-5060.2019.05.001

Journal:合肥工业大学学报

Key Words:无人车;换道;轨迹规划;五次多项式;动态仿真

Abstract:文章在换道过程分析研究的基础上,将换道轨迹规划过程分为换道方案生成阶段、变速调整阶段和匀速换入阶段3个阶段;将局部动态规划变成拟静态规划,考虑了无人车机器的反应时间,使实际换道执行时间更加准确。该文在车辆运动学约束和 G2连续要求下控制车辆换道轨迹,在变速调整阶段控制主车加速度使得主车到达换道速度和换入位置,在匀速换入阶段运用五次多项式换道轨迹规划方法规划匀速换入的轨迹。通过仿真分析,发现该文提出的换道轨迹满足车辆实际运行要求,在动态仿真过程中证明了换道轨迹安全可行;与传统五次多项式规划轨迹比较,该文提出的换道轨迹规划过程可以提高换道成功率。

Indexed by:Journal paper

Discipline:Engineering

Document Type:J

Volume:2019

Issue:5

Page Number:577-584

Translation or Not:no

Date of Publication:2019-05-01

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