Research Of The Characteristics Of Highway Lane-changing Behavior And Lane-changing Model Based On Trajectory Data

As one of the core driving behaviors in the microscopic traffic flow model,lane-changing behavior controls the lateral movement of vehicles during driving.Frequent and unreasonable lane-changing behavior will interfere with the normal driving of surrounding vehicles,may cause traffic jams,and even cause traffic accidents.In addition,the lane-changing behavior has an important influence on the geometric design index of the section where the width of the expressway changes.In recent years,with the continuous maturity of UAV and video extraction technologies,new methods and methods have been provided for the extraction of trajectory data.In this paper,the lane change vehicles of the highway are taken as the research object,and the lane change characteristics of the vehicles on different sections of the highway are analyzed in depth based on the lane change track data of the lane change vehicles.First,by collecting and consulting relevant domestic and foreign literatures,this paper summarizes the influencing factors of the lane change process and lane change behavior,and describes and theoretically analyzes the current commonly used lane change trajectory models,in-depth pros and cons and features of the model analysis.On this basis,a total of 6 collection points were selected on the straight section of the Xi’an Ring Expressway and the entrance and exit of the expressway.The method of combining drones and UMRR traffic management sensors was used to obtain traffic information data and vehicle trajectory data.Programming software and Simi-Motion software perform statistical processing on the trajectory data,analyze the trajectory data of lane-changing vehicles in terms of running speed,lane position,lane-changing duration,lane-changing length,etc.,and explore different sections of highways and different vehicle types Lane changing characteristics.Furthermore,the Kalman filter algorithm is used to clean the trajectory data to extract and reproduce the lateral position of the lane change vehicle.A lane change trajectory model based on the hyperbolic tangent function is proposed.On the basis of the new model,the physical meaning of the model parameters is analyzed and the sensitivity analysis of the emergency coefficients in the model is carried out.Car-Sim and Truck-Sim software are used to simulate the lane change trajectory generated by the hyperbolic positive switching lane model.The results show that the hyperbolic positive switching lane model has a smaller lateral acceleration value than the quantic polynomial model,and by adjusting the value of the emergency coefficient in the hyperbolic positive switching lane model,a lane change trajectory that is more suitable for the driving environment can be generated.Finally,the research results are applied to the design of road alignment indicators and intelligent vehicle trajectory planning.The minimum length calculation model and vehicle trajectory optimization model of the gradual transition are proposed,and the recommended values of the minimum and maximum graduation rates of different types of gradual transition are calculated.The research of the thesis combines the measured data to solve the limitations of the current specifications for the design indicators of the road width transition section,and the research results have certain application potential for the Internet of Vehicles and intelligent vehicle assisted driving systems.