Study On Lane-changing Driving Assistance Method Under CVIS

Lane-changing is a common driving behavior in road traffic, lane-changing process involves vertical and horizontal operation of the vehicle, and includes the acceleration and deceleration behavior. Because of the complexity of lane-changing, the driver may misjudge in the lane change process, thereby threating the safety of the vehicles. As a typical vehicle safety driving support system, lane-changing driving assistance system is capable of perception and decision making on the surrounding environment, lane changing risk analysis, the assist of the lane-changing behavior and make up for the inadequacy of the driver. However, most of the existing lane-changing driving assistance systems can only perform early warning of hazardous before the lane-changing, and can not provide dynamic advice to the driver in the whole process of lane-changing. The main reason is that the lane-changing models adopted in the existing lane changing driving assistance systems are based on the vehicle kinematics law. These models do not consider the characteristics of the driver, cannot reflect the chang of driver’s driving behavior during the the lane-changing.Firstly, this paper analyze the process of driver’s perception and decision-making during the lane-changing, come to the the conclusion of driver’s lane-changing behavior is related to the arounding vehicles’driving state and the lateral displacement of itself. And then, considering the information of surrounding vehicles and lateral displacement, a framework of lane-changing driving behavior model is developed based on stimulus-response mechanisms and car following theory to reflect the characteristics of lane-changing driving behaviors. Two classic following model, GM models and OV model is extended for lane changing driving behavior models.Secondly, study the method of calibration of lane-changing model parameters. The model is calibrated and validated based on lane-changing trajectory data. The results shows the model obtain acceptable error, demonstrate the correctness and effectiveness of the model. Comparative results show that the lane-changing model considering the effect of lateral displacement is more able to reflect the characteristics of lane-changing behavior.Finally, analyze the basic structure of the lane change driving assistance system under CVIS, study the lane-changing driving assistance method under the proposed model. Simulate the lane-changing driving assistance method under two typical scenarios, vehicle acceleration and deceleration. The results show, the proposed lane-changing driving assistance method can achieve dynamic driving assistance to the lane-changing vehicle and ensure the safety and smooth lane-changing.Lane changing driving behavior model established in this paper can dynamically reflect the characteristics of the driver’s lane-changing behavior and has the important meaning to the study of lane-changing behavior; the proposed lane-changing driving assistance method can achieve dynamic driving assistance to the driver and provides a theoretical basis for the future establishment of drivering assistance system.