Multi-vehicle collaborative lane changing control method based on vehicle-vehicle communication

Abstract

The invention discloses a multi-vehicle collaborative lane changing control method based on vehicle-vehicle communication. In view of complicated scenes of multiple lanes, simultaneous lane changing of multiple vehicles and variable motions of go-straight vehicles, a multi-vehicle collaborative lane changing control strategy is provided, and a safety distance model for the go-straight vehicles under the variable acceleration condition and a safety distance model between two lane changing vehicles are built. Through adopting a quintic polynomial lane changing track, taking the track length andthe comfort as objective functions, and taking the vertical and horizontal speeds of the vehicles and the like as constraint conditions, a desired lane changing track is obtained by utilizing an optimization solution method. In the lane changing process, a safe distance is calculated according to real-time information of the lane changing vehicles and the go-straight vehicles, and the track is re-planned in danger, so that collision accidents can be avoided, and meanwhile, the passing efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of active safety control of intelligent driving vehicles, and in particular relates to a multi-vehicle cooperative lane change control strategy based on vehicle-vehicle communication conditions, so as to avoid collision accidents caused by sudden situations during the lane change process. Background technique [0002] my country's expressways are developing rapidly, but the safety still needs to be improved. According to statistics, the accident rate and death rate of expressways in our country are relatively high. Among the causes of accidents, failure to maintain a safe distance accounted for 30%, and illegal lane changes accounted for 13%, ranking second and third respectively. Vehicle lane-changing behavior is one of the most basic driving behaviors of vehicles. Relevant data show that 75% of lane-changing accidents are due to drivers’ cognitive errors, and lane-changing accidents account for about 4% t...

AI Technical Summary

Problems solved by technology

[0005] In the field of multi-vehicle coordinated lane change, the existing researches mostly focus on the way of one vehicle changing lanes and the through-going vehicles performing acceleration / deceleration coordination. There are few studies on the cooperative behavior of multi-vehicle simultaneous lane changing, which cannot adapt to complex road conditions. , can only deal with relatively simple two-lane scenarios; in the calculation of the safety distance, the traditional lane change control only uses the vehicle position and speed information at the current moment for calculation before the start of the lane change, and assumes that the straight-going vehicle maintains a constant speed, without considering The change of the motion state of straight-going vehicles during the lane change is quite different from the actual situation, and under this assumption, only the safety of some straight-going vehicles is considered; in terms of control strategy, the safety distance is only detected before the lane change and trajectory planning, the strategy is single and lacks flexibility. When the surrounding vehicles and the environment change during the lane change process, there is no corresponding emergency measure, and the dynamic safety of the vehicle cannot be guaranteed. Especially when the speed of the straight vehicle changes greatly, it may Change the original judgment result of safe distance

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