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Vehicle behavior spatial-temporal evolution modeling method under path constraint condition and application thereof

A technology of path constraint and modeling method, applied in the modeling field of vehicle behavior evolution in time and space, which can solve problems such as inability to accurately describe the shape characteristics of vehicle path and inability to gain insight into vehicle behavior laws.

Active Publication Date: 2015-06-24
TONGJI UNIV
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Problems solved by technology

Obviously, the two-dimensional plane cannot accurately describe the shape characteristics of the vehicle path in a complex geographical environment, so it is impossible to understand the behavior of the vehicle under the path constraints and exert correct control on it

Method used

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  • Vehicle behavior spatial-temporal evolution modeling method under path constraint condition and application thereof
  • Vehicle behavior spatial-temporal evolution modeling method under path constraint condition and application thereof
  • Vehicle behavior spatial-temporal evolution modeling method under path constraint condition and application thereof

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Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0041] A modeling method for the spatio-temporal evolution of vehicle behavior under path constraints, such as figure 1 shown, including steps:

[0042] 1) Obtain the running route of the vehicle, and abstract the running route into a space curve;

[0043] The space curve is a regular space curve under the three-dimensional Euclidean space coordinate system, and the origin of the three-dimensional coordinate system is the center of the earth.

[0044] 2) Using the geometric invariant parameters of the space curve, that is, the arc length, curvature and torsion at each point on the s...

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Abstract

The invention relates to a vehicle behavior spatial-temporal evolution modeling method under a path constraint condition and application thereof. The modeling method includes the steps that 1, a vehicle operating route is obtained and abstracted into a space curve; 2, geometric invariant parameters of the space curve, namely arc lengths, curvature and torsion of all points on the space curve are used for setting up Serret-frenet movable frames representing motion of a vehicle along the space curve; 3, the corresponding relation between all the points on the space curve and time changes in the vehicle operating process is determined, the Serret-frenet movable frames at all the points are combined to obtain speeds and accelerated speeds, at all the points, of the vehicle through calculation, and a vehicle behavior spatial-temporal evolution model under the path constraint condition is set up. Compared with the prior art, the operating route of the vehicle is abstracted into the space curve instead of a planar curve, and compared with an existing mode of abstracting the operating line into a straight line or a two-dimensional curve, the vehicle behavior spatial-temporal evolution modeling method has higher applicability.

Description

technical field [0001] The invention relates to the field of transportation, in particular to a modeling method and application of vehicle behavior spatio-temporal evolution under path constraint conditions. Background technique [0002] The research on microcosmic behavior of vehicles mainly focuses on two aspects: car-following operation and lane-changing behavior during car-following operation; macroscopic research mainly focuses on the impact of vehicle microcosmic behavior on traffic flow. At present, researches on microcosmic behavior mostly focus on vehicle following and lane changing. Scholars such as Ren Dianbo, Zhang Lidong, and Guo Lie have studied the behavior of vehicles changing lanes on curved roads with fixed and changing curvatures, and established corresponding vehicle lane changing behaviors. Trajectory model. Although traffic flow belongs to the category of macroscopic research, it is necessary to study the macroscopic effects of microscopic behaviors on...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 潘登夏易君
Owner TONGJI UNIV
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