主干–匝道协同编队的高速公路合流区网联车辆轨迹规划方法

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Title:

Trajectory planning methodology for connected vehicles in highway merging zones based on mainline-ramp cooperative platooning

作者:

杨志发^1,2, 施嘉琪^1,3, 于卓⁴, 王龙²

1. 广州航海学院 智能制造学院, 广东 广州 510725;
2. 吉林大学 交通学院, 吉林 长春130025;
3. 广东工业大学 土木与交通工程学院, 广东 广州 510006;
4. 广州航海学院 文理学院, 广东 广州 510725

Author(s):

YANG Zhifa^1,2, SHI Jiaqi^1,3, YU Zhuo⁴, WANG Long²

1. School of Intelligent Manufacturing, Guangzhou Maritime University, Guangzhou 510725, China;
2. School of Transportation, Jilin University, Changchun 130025, China;
3. School of Civil Engineering and Transportation, Guangdong University of Technology, Guangzhou 510006, China;
4. School of Arts and Sciences, Guangzhou Maritime University, Guangzhou 510725, China

关键词:

高速公路合流区; 网联车辆协同编队; 轨迹规划; 多项式换道轨迹; 车辆二自由度; 动力学稳定性约束; 分离轴定理; 轨迹簇

Keywords:

expressway merging areas; cooperative platooning of connected vehicles; trajectory planning; polynomial lane-changing trajectory; two-degree-of-freedom of vehicle; dynamic stability constraints; separating axis theorem; trajectory cluster

分类号:

TP273.1；U471.23

DOI:

10.11992/tis.202512045

摘要:

为实现高速公路主干–匝道网联车辆协同编队，针对合流区车辆轨迹规划问题，本文提出融合动力学稳定性约束与碰撞检测的轨迹优化方法。选用五阶多项式作为基础模型，实现对纵横向运动的协同规划。引入二自由度车辆模型，推导横摆角速度与质心侧偏角的稳定界限，结合Trucksim仿真拟合得到最小换道时长表达式(拟合优度为0.992)，建立动力学约束体系。采用分离轴定理(separating axis theorem，SAT)实现快速碰撞检测，并构建安全风险与换道效率的综合成本函数，通过权重调节(0.4，0.5，0.6)优化最佳换道时长，考虑车辆动力学稳定性风险和换道效率综合成本获得最佳换道时长为5.16 s。仿真验证主干道与匝道车辆轨迹无冲突，换道过程平滑，纵横向运动协同，验证了模型有效性。

Abstract:

To achieve coordinated platooning of connected vehicles on highway mainlines and ramps, this paper addresses the vehicle trajectory planning problem in merging zones by proposing a trajectory optimization method that integrates dynamic stability constraints and collision detection. A quintic polynomial is selected as the baseline model to enable coordinated longitudinal and lateral motion planning. Utilizing a two-degree-of-freedom vehicle model, stability boundaries for yaw rate and sideslip angle are analytically derived. Combined with Trucksim simulations, an expression for the minimum lane-changing duration is fitted with a goodness-of-fit value of 0.992, thereby establishing a comprehensive dynamic constraint framework. The separating axis theorem (SAT) is employed to enable rapid collision detection. A composite cost function incorporating both safety risk and lane-changing efficiency is constructed. Through weighted adjustment (0.4, 0.5, 0.6), the optimal lane-changing duration of 5.16 seconds is determined, considering both vehicle dynamic stability risks and overall lane-changing efficiency. Simulation results confirm conflict-free trajectories between mainline and ramp vehicles, smooth lane-changing maneuvers, and well-coordinated longitudinal-lateral motions, thereby validating the effectiveness of the proposed model.