In order to further reduce the risk of sideslip accidents in curves and improve the efficiency of curves, this paper proposes a variable curvature curve speed programming algorithm considering the pavement adhesion coefficient. Based on the four-wheeled three-degree-of-freedom vehicle model, the vehicle state and pavement adhesion coefficient are estimated using Unscented Kalman Filter and the Dugoff tire model; in order to improve the safety of the vehicle's curved roadway driving, the maximum safe speed of variable curvature curved roadway is analyzed, and then dynamic programming and quadratic programming are used to make a reasonable programming for the driving speed. Finally, the joint road was designed for simulation testing. The results show that the proposed programming algorithm can cope with different pavement adhesion coefficients and can plan efficient and reasonable speeds for curves.


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    Title :

    Research on Speed Programming Method for Variable Curvature Curves Considering Pavement Adhesion Coefficient


    Contributors:
    Qinghua, Qi (author) / Jinrong, Cui (author) / Wei, Zeng (author) / Jiayu, Dai (author) / Mingxing, Deng (author)


    Publication date :

    2023-10-27


    Size :

    2092312 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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