主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2025, Vol. 50 ›› Issue (23): 59-64.DOI: 10.16638/j.cnki.1671-7988.2025.023.011

• 智能网联汽车 • 上一篇    

智能车辆模糊换道模型安全效益及适用性分析

李太峰 1，熊昌安 2*   

  1. 1.云南省公路路政管理总队 云南省综合交通发展中心；2.云南省交通规划设计 研究院股份有限公司 公路与桥梁高效养护及安全耐久国家工程研究中心
  • 发布日期:2025-12-08
  • 通讯作者: 熊昌安
  • 作者简介:李太峰（1980－），男，硕士，高级工程师，研究方向为道路工程与交通安全； 通信作者：熊昌安（1997－），男，硕士，工程师，研究方向为交通安全与环境、数据挖掘
  • 基金资助:
    云南省交通运输厅科技创新及示范项目（2023（178）、2023（83（三）））

Analysis of Safety Benefits and Applicability of Fuzzy Lane-Changing Model for Intelligent Vehicles

LI Taifeng1 , XIONG Chang'an2*   

  1. 1.Yunnan Comprehensive Transportation Development Center, Yunnan Provincial Highway Administration Corps; 2.National Engineering Research Center for Efficient Maintenance, Safety and Durability of Roads and Bridges, Yunnan Provincial Transportation Planning and Design Institute Company Limited,
  • Published:2025-12-08
  • Contact: XIONG Chang'an

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摘要： 为研究双向四车道高速公路的智能车辆换道可行性、验证换道规则的合理性与安全效 益，文章以智能车为研究对象，分析智能车辆换道影响要素，定义换道车辆与目标车道前后 车的车头间距、换道车辆与本车道前后车的速度差为输入变量，换道可能性和换道风险为输 出变量，规定当换到风险小于 0.5 时车辆可进行换道，构建智能车辆模糊换道模型并基于 MATLAB 进行多工况仿真测试，分析换道规则的合理性和换道行为的安全性及效益。结果表明， 1）当车辆与目标车道和本车道的前后车间距论域分别为（-400, 400）（0, 200），速度差论域 为（-1, 1），输出小于 0.5 时，智能车辆进行换道时可保证安全性。2）智能车辆模糊换道模型 基本能够在保证安全性的前提下进行换道，并给交通流带来正效益；当车流密度较大时，不 建议车辆进行换道行为。

关键词: 交通安全；模糊控制；车辆换道；MATLAB 仿真

Abstract: To study the feasibility of intelligent vehicle lane-changing on two-way four-lane highways and verify the rationality and safety benefits of lane-changing rules, this paper takes intelligent vehicles as the research object, analyzes the elements affecting intelligent vehicle lane-changing, defines the headway between lane-changing vehicles and front and rear vehicles in the target lane, the speed difference between the lane-changing vehicles and the front and rear vehicles in the present lane as the input variables, and the possibility of lane-changing and the risk of lane-changing as the output variables, and stipulates that vehicles can make a lane change when the risk of switching to the target lane is less than 0.5 when the vehicle can change lanes, builds the fuzzy lane-changing model for intelligent vehicles and conducts multi-case simulation test based on MATLAB to analyze the rationality of lane-changing rules and the safety and benefits of lane-changing behavior. The results show that: 1) When the front and rear inter-vehicle distance theories of the vehicle and the target lane and this lane are (-400, 400) and (0, 200) respectively, and the speed difference theories are (-1, 1), and the output is less than 0.5, the safety can be ensured when the intelligent vehicle carries out the lane-changing. 2) The fuzzy lane changing model of intelligent vehicles can basically carry out lane changing under the premise of ensuring safety and bring positive benefits to the traffic flow; when the density of traffic is large, it is not recommended for vehicles to carry out lane changing behavior

Key words: traffic safety; fuzzy control; vehicle lane change; MATLAB simulation