Car lane changing trajectory model based on hyperbolic tangent function
1. School of Highway, Chang′an University, Xi′an, Shaanxi 710064, China; 2. Key Laboratory for Special Area Highway Engineering of Ministry of Education， Chang′an University, Xi′an, Shaanxi 710064, China
Abstract：The Simi-Motion software was used to extract the left lane changing (LLC) and right lane changing (RLC) trajectory data in freeway off-ramp areas from the video of unmanned aerial car (UAV). A new car lane changing trajectory model was established based on the hyperbolic tangent function. The proposed model was compared with the traditional spline curve function, fifth-order polynomial and sinusoidal function trajectory model. The characteristics and the applicability of the new model were proved by sensitivity analysis of model parameters, goodness of fit test and CarSim simulation analysis. The results show that compared with the traditional lane change trajectory model, the new model has higher fitting precision, and each parameter in the model can has actual physical meaning. The parameter of τ in the model can characterize the urgency of the driver's lane changing behavior in freeway off-ramp areas. The new parameter makes the new model more universal and applicable. With the feature, the model can generate car lane changing trajectories for specific driving environments, and it can also contribute to the study of road geometry design and the development and application of driver assistance systems (ADAS).
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2020, Vol. 41 
