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.