Browse Publications Technical Papers 2019-01-0878

Study on lane-change assistant strategy of adaptive cruise control 2019-01-0878

The conventional adaptive cruise control uaually decelates when appoach the preceding vehicle which is driving slowly. However, most driver would like to change lane to achive velocity advantage. Hence, it's very important to increase the lane-change function of adaptive cruise control system. In this paper, a lane-change assistant strategy of adaptive cruise control is proposed. The longitudinal motion states are analysis in the lane-change strategy. According to the relative velocity, acceleration and station of the host vehicle and surrouned vehicle, the lane-change possibility is defined. Then a concept of lane-change possibility, Tlc, is proposed to calculate how much time buffer is left for lane-change action and two threshold of Tlc is established. The first threshold means the initial time for lane-change intention, the second threshold means the last time for lane-change intention. Besides, a concept of reference steering angle δ_fis put forword to distinguish the lane-change and curve road. On the basis, the steering behavior index Ilc is used to characterize driver's steering behavior index. The index of steering angle δ_f and steering behavior index Ilc is reflected the vehicle turn left or right. Additionally, comfortable performance is designed by limiting longitudinal accelaration, tracking performance is considered by judging the priority of target vehicle and safety performance is developed on account of safety distance. Finally, lane-change assistant strategy is conducted in Matlab&Carsim under three conditions,which including the target preceding vehicle decelates condition, the target rear vehicle accelates condition and both the target surronded vehicle has impact on host vehicle. Then the lane-change assistant ACC strategy and conventional ACC strategy is compared in DSPACE. The result shows that proposed lane-change assistant strategy is not only improve the safety performance, but also achive great velocity advantage.


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