Analysis And Evaluation Of Lane-changing Driving Behavior Under The Macro And Micro Path Planning

With the development of the ages,the number of car ownership is becoming bigger and bigger,this phenomenon can bring convenience to people,and also bring problems such as traffic jam or even accidents at the same time.In recent years,intelligent technology has been widely used in the automotive field,the development of the unmanned vehicle can be creatively extract the "people" from the loop "man-vehicle-road(environment)",it can improve the safety of the vehicle driving,the unmanned vehicle has become the mainstream of the development of automotive.Foreign unmanned vehicle research and development process is very rapid,and the evaluation system for unmanned vehicles is relatively complete.From the just concluded "2012 China Intelligent Vehicle Future Challenge" and "2016 China Intelligent Vehicle Championship",we can see,our country works hard at the development of the unmanned vehicle.How to give quantitative evaluation to unmanned vehicles is also an important direction of China's development in the field of unmanned vehicles.Lane-changing behavior is one of the most common traffic phenomenon in the city road traffic,and also a driving behavior which has high frequency of traffic accidents.the research on lane-changing model is very rich,therefore,this study based on the road driving behavior and model,and combined with the domestic and foreign research status of unmanned vehicle evaluation,give the quantitative evaluation to the lane-changing behavior of unmanned intelligent vehicle.The lane-changing behavior should be analyzed from the changing demand.This thesis first takes the macro planning through the topological characteristics between the two places,and analyzed the probability of turning intersection.Around the lane-changing behavior of unmanned vehicle,we establish the evaluation system from four major benchmarks--stability,time,safety and intelligence.The vehicle lane-changing behavior of urban road was observed by video recording,and the lane-changing time was used as an index to evaluate the time of the vehicle,and use the data to verify the scientific of the chose.Considering the lane changing circumstances to avoid any collision as the premise,lane-changing model based minimum safety distance is established and simulated,to establish the safety and non-safety zone from the relative velocity and relative distance.The fuzzy rule and membership degree set based on relative velocity and relative distance,this provides scientific guarantee for the safety of the lane-changing behavior.According to the virtual visual simulation platform,the relationship between acceleration and steering wheel angle change to the stability of the lane-changing behavior is verified.Finally,through the combination of analytic hierarchy process and fuzzy comprehensive evaluation,give the quantitatively evaluate the behavior of unmanned vehicle,and provide directional support guidance for unmanned vehicle technology.