Modeling Method and Application of Spatio-temporal Evolution of Vehicle Behavior under Path Constraints

Abstract

The invention relates to a modeling method and application thereof for the temporal and spatial evolution of vehicle behavior under path constraints. The modeling method includes the steps of: 1) acquiring a vehicle running route, and abstracting the running route into a space curve; 2) utilizing The geometric invariant parameters of the space curve, that is, the arc length, curvature and torsion at each point on the space curve, establish the Serret-frenet active frame of the vehicle moving along the space curve; 3) determine the relationship between each point on the space curve and the vehicle running The corresponding relationship of time changes in the process, combined with the Serret-frenet active frame at each point, calculates the velocity and acceleration of the vehicle at each point, and establishes a mathematical model of the space-time evolution of vehicle behavior under path constraints. Compared with the prior art, the running route of the vehicle in the present invention is abstractly drawn as a space curve instead of a plane curve. Compared with the existing way of abstracting the running route as a straight line or a two-dimensional curve, it has a wider 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...

AI Technical Summary

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

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