换道决策中的车辆速度估计模型

王畅; 付锐; 张琼

doi:10.19818/j.cnki.1671-1637.2015.06.011

换道决策中的车辆速度估计模型

doi: 10.19818/j.cnki.1671-1637.2015.06.011

王畅^1,,
付锐¹,
张琼²

1.
长安大学汽车学院, 陕西西安 710064
2.
人民交通出版社股份有限公司, 北京 100011

基金项目:

长江学者和创新团队发展计划项目 IRT1286

国家自然科学基金项目 61374196

国家自然科学基金项目 61473046

交通运输部应用基础研究项目 2013 319 812 150

中央高校基本科研业务费专项资金项目 310822151028

中央高校基本科研业务费专项资金项目 2013G1502062

中央高校基本科研业务费专项资金项目 310821151017

详细信息

作者简介:
王畅(1984-), 男, 湖南岳阳人, 长安大学副教授, 工学博士, 从事车辆主动安全技术研究

中图分类号: U491
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出版历程
- 收稿日期: 2015-08-21
- 刊出日期: 2015-06-25

Speed estimation model during lane-changing decision

1.
School of Automobile, Chang'an University, Xi'an 710064, Shaanxi, China
2.
China Communications Press Co., Ltd., Beijing 100011, China

More Information

Author Bio:
WANG Chang(1984-), male, associate professor, PhD, +86-29-82334722, wangchang@chd.edu.cn

摘要

摘要: 为研究换道决策阶段驾驶人对后方车辆的速度感知特征, 以小型乘用车为平台, 利用毫米波雷达、车载总线数据仪、音视频监测系统等搭建了试验车。招募了15名驾驶人, 在某高速公路完成后方车辆速度估计试验, 试验车速度分别设置为60、70、80、90km·h^-1, 最后获取了1 625组数据。采用显著性分析方法, 分析了相对速度、后方车辆速度与相对距离对驾驶人速度估计行为的影响特性。利用多元线性回归理论建立了驾驶人速度估计模型, 并对模型进行了检验。分析结果表明: 约60%的速度估计误差绝对值不大于10km·h^-1, 且驾驶人的速度估计误差满足正态分布; 驾驶人速度估计误差随两车相对速度和后方车辆速度的增大而减小, 相对速度和后方车辆速度较低时, 易高估后方车辆速度, 相对速度和后方车辆速度较高时, 易低估后方车辆速度; 随两车相对距离的增大, 驾驶人速度估计误差变化趋势不显著, 但两车相对距离较小时, 驾驶人易高估后方车辆速度; 速度估计模型的平均误差为-0.56km·h^-1, 因此, 估计结果可靠。
- 换道决策 /
- 速度估计 /
- 驾驶人 /
- 感知特性 /
- 回归分析
Abstract: In order to research the driver's estimation characteristic for rear-vehicle speed during lane-changing decision, small passenger car was used as test platform and established by using microwave radar, vehicle CAN-bus data logger, audio-video monitoring system.15 drivers were recruited, and the estimation test of rear-vehicle speed was carried out in a normal highway.The speeds of test vehicle were set as 60, 70, 80, 90km·h^-1 separately, and 1 625 sets of data were obtained finally.The impact characteristics of relative speed, rear-vehicle speed, and relative distance on driver's speed estimation behavior were analyzed by using significance analysis method.A driver's speed estimation model was established by using multiple linear regression theory, and the model was examined.Analysis result shows that 60% of absolute values of speed estimate errors are no more than 10km·h^-1, and the driver's speed estimation error follows a normal distribution.Driver's speed estimation error decreases with the increase of relative speed and rear-vehicle speed, when the relative speed or rear-vehicle speed is lower, rear-vehicle speed is overestimated, and when the relative speed or rear-vehicle's speed is higher, rear-vehicle speed is underestimated.When the relative distance of vehicles increase, the driver's speed estimationerror change very small.However, when the relative distance is smaller, rear-vehicle speed is overestimated by driver.The average estimation errors of speed estimation model is-0.56km·h^-1, so the model is feasible.
- lane-changing decision /
- speed estimation /
- driver /
- perception characteristic /
- regression analysis

HTML全文

图 1 试验场景

Figure 1. Test scene

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图 2 V_r分布

Figure 2. Distribution of V_r

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图 3 V_r正态分布检验

Figure 3. Verification of normal distribution of V_r

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图 4 V₃分布

Figure 4. Distribution of V₃

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图 5 不同V₃时V_r盒图分析

Figure 5. Box analysis of V_r for different values of V₃

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图 6 V₂分布

Figure 6. Distribution of V₂

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图 7 不同V₂时V_r盒图分析

Figure 7. Box analysis of V_rfor different values of V₂

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图 8 d分布

Figure 8. Distribution of d

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图 9 不同d时V_r盒图分析

Figure 9. Box analysis of V_r for different values of d

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图 10 回归模型残差分析

Figure 10. Residual analysis of regression model

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图 11 模型估计误差分布

Figure 11. Distribution of model estimation errors

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图 12 模型估计误差正态分布检验

Figure 12. Verification of normal distribution of model estimation errors

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表 1 驾驶人信息

Table 1. Driver informations

表 2 V_r与各参数的相关性与显著性检验结果

Table 2. Results of correlation and significant test between V_r and other parameters

表 3 模型检测结果

Table 3. Test results of model

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