关键词: 智能卡车变道, 动态轨迹规划, 车辆侧倾稳定性, 动态交通环境

Abstract: To realize automated lane-changing maneuvers for intelligent trucks in the actual traffic environment, this paper proposes a dynamic lane-changing trajectory planning strategy considering roll stability. Considering dynamic stiffness of the suspension and nonlinear characteristics of the tires, the TruckSim software vehicle dynamics model is applied to conduct orthogonal simulation experiments of different vehicle speeds, road adhesion coefficients and longitudinal length of lane-changing, and establish a mathematical model of the critical minimum longitudinal length of lane-changing. According to the dynamic changes of the surrounding vehicles, the safe lane-changing boundaries are obtained by performing obstacle avoidance detection. Objective functions like lane-changing efficiency and vehicle stability for the intelligent trucks are designed to obtain the optimal lane-changing trajectory. The co-simulation platform of Matlab/Simulink and TruckSim is built to conduct simulation analysis of planning strategies. The simulation results reveal that the proposed lane-changing planning strategy can ensure the intelligent trucks to effectively avoid collisions with the surrounding dynamic vehicles and complete the lane-changing. Besides, roll stability of the intelligent trucks can also be guaranteed during the lane-changing.