基於Target & Control駕駛者轉向模型之自動變換車道控制系統研發

Development of the Automatic Lane Change Control System Based on the Target and Control Driver Steering Model

潘正明(Cheng-Ming Pan)

指導教授 ： 李綱

國立臺灣大學/工學院/機械工程學研究所/碩士(2019年)

https://doi.org/10.6342/NTU202000218

摘要

本篇論文以Target & Control為架構基礎，作為道路追隨控制系統開發延伸，使車輛能保有原先追隨道路功能外，並且做出車道變換之行為。近年來自動駕駛的相關研究與發展特別熱門，幾乎都研發出道路追隨的功能，而有少部分具備變換車道的功能。主要是現階段的車道變換都是以路徑規劃去做研究，而大部分的路徑規劃運算結構龐大複雜，必須重複做最佳化來取得較好路徑，所以在時間與成本方面也相當耗時、昂貴，且舒適度和安全性的考量也不夠完善。因此本研究以駕駛者轉向模型為基礎，並結合車道變換系統來進行設計，所以當取得已知路徑時，除了能跟隨此路徑外，還能根據駕駛者的決策去啟動變換車道的功能，而不影響原先路徑。此研究構想是將變換車道過程視為暫態行為來探討，以轉移函數系統來看，把單位步階響應視為側向偏移量，而上升時間視為變換車道所需時間，因此調整系統的增益，再藉由根軌跡來進行分析，則可以知道當下車輛動態的響應，像是偏航角變化率、側向誤差以及側向加速度，並以側向加速度作為指標，來分析駕駛者此時的舒適度以及安全性。本系統之特性評估是使用CarSim進行模型迴路模擬以及Simulink來分析，因此系統在運算邏輯更加快速簡便且適合用於即時車輛控制。

關鍵字

變換車道控制 ； 道路追隨控制 ； 駕駛者轉向模型

並列摘要

This thesis is based on Target & Control, to develop and expand the cruise control systems, vehicles can follow current road and also make the lane change behavior. Mainly the current lane change research is based on path planning, but most of the path planning are huge and complex, must be optimized for better path, so it is time consuming and expensive. Moreover, the consideration of comfort and safety is not perfect. Therefore, this research is based on driver steering model and combined the lane change system to improve, so when getting the known path, the vehicle can follow the current path and according to the driver decision to start the lane change system. This research idea is to explore the process of changing lanes as a transient behavior, actually tuning the gain. Using a critically damped second-order response to increase the target point, so that treat the unit step response as the lateral position, and the rising time as time required to reach the lateral position, and the system frequency is a parameter that affects the system convergence speed and response. As the system frequency increases, the time of lane change will be short. Due to the short change of time, it may cause security problems, but through the system response to analyze, drivers can understand the current vehicle dynamic response, as vehicle trajectory, yaw rate, time required for changing lanes, and lateral acceleration. In terms of security considerations, using lateral acceleration as an indicator, analyze the driver's comfort and safety at this time with given parameters. The system is assessed in the model in the loop simulation (MiLS) using CarSim and Simulink. Due to the simpler control algorithm of T&C driver steering model, this system is much more adaptable for real-time control.

並列關鍵字

lane change control ； lane following control ； driver steering model

參考文獻

[1]N. H. T. S. Administration, "Preliminary statement of policy concerning automated vehicles," Washington, DC, 2013.

[2]H. Jihua, T. Han-Shue, and B. Fanping, "Preliminary steps in understanding a target & control based driver steering model," in American Control Conference (ACC), 2011, 2011, pp. 5243-5248.

[3]袁鼎, "以駕駛者轉向及車輛動態模型為基礎之道路追隨控制系統研發," 碩士論文,機械工程研究所,國立台灣大學,2015.

[4]H.-S. Tan, J. Guldner, C. Chen, S. Patwardhan, and B. Bougler, "Lane changing with look-down reference systems on automated highways," Control Engineering Practice, vol. 8, pp. 1033-1043, 2000.

[5]J. P. Wann and D. K. Swapp, "Why you should look where you are going," Nature neuroscience, vol. 3, pp. 647-648, 2000.