Research On Collaborative Decision Model Of Vehicle's Desired Trajectory And Desired Speed

With the rapid development of road transportation industry in our country,the total mileage of highways and the number of civil vehicles are increasing year by year,and the road traffic safety problems have become more serious.In the past,when analyzing the causes of road traffic accidents,were often attributed to human factors,while ignoring the impact of the road,the environment and other factors on the driver's behavior.Actually,as a dynamic complex system formed by people,car,road and environment,any factors in road traffic system producing errors or the interaction between the various factors imbalanced are likely to lead to the instability of the whole system,and cause accidents.This paper makes a systematic analysis on the influencing factors of road traffic safety.Pearson correlation test and gray correlation analysis are used to determine the influence degree of correlation between each factor and road traffic accidents,and it is proved that speeding is the main factor affecting road traffic safety,puts forward that the design of road safety should be improved by improving the consistency between vehicle speed and road alignment.This paper established a typical driver's expected trajectory decision target function and the expected speed of decision objective function according to the driving habits of different people,and according to the road conditions,vehicle dynamic characteristics and driving comfort requirements set constraints,so as to establish the typical driver's expected trajectory and the desired speed decision model.After the decision of the objective function is normalized,establishing a desired trajectory combination decision model and expectation speed combination decision model,by setting the typical driver decision model in portfolio decision model in the weight value,can describe different drivers desired trajectory and the desired speed.Designing of rolling horizon optimization algorithm to solve the model,the total mileage of large-scale drivers expected trajectory and the desired speed model for collaborative decision problem is decomposed into short mileage small-scale problems,and using Lingo 9.0 solver to solve small-scale problems,not only reduces the difficulty of solving the original problem.Also strengthens the ability to respond to dynamic factors,more according with the actual decision-making behavior of drivers.Finally,simulation calculation is carried out by applying the driver's expected trajectory and the desired speed of collaborative decision making model of some mountainous area second-class highway,obtained three typical driving expected running track curve and the corresponding to the optimal time for the purpose of driving expectation speed curve.The establishment of this model takes into account the influence of driver's behavior habit,road alignment conditions and vehicle dynamic characteristics on the driver's desired trajectory and desired speed decision-making behaviors.It has important theoretical and practical significance to optimize the parameters of road alignment,control the speed,guide road design and reduce the occurrence of traffic accidents.