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A lane-changing decision-making method for multi-vehicle interaction considering driving benefit increment

A decision-making method and technology of interest, applied in the field of active prevention and control of road traffic safety, can solve problems such as low accuracy and poor safety, and achieve the effect of ensuring stability, reducing possibility, and improving accuracy and safety.

Active Publication Date: 2021-02-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problems of low accuracy and poor safety in the existing multi-vehicle interaction lane change process, and propose a multi-vehicle interaction lane change decision-making method considering the increase in driving benefits

Method used

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  • A lane-changing decision-making method for multi-vehicle interaction considering driving benefit increment
  • A lane-changing decision-making method for multi-vehicle interaction considering driving benefit increment
  • A lane-changing decision-making method for multi-vehicle interaction considering driving benefit increment

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Experimental program
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specific Embodiment approach 1

[0027] Specific implementation mode 1: In this implementation mode, a multi-vehicle interactive lane-changing decision-making method that considers the driving benefit increment. The specific process is as follows:

[0028] Step 1: as attached figure 1 As shown, the traffic module is constructed using the cellular automata model. Divide the road into a grid with cells with a width of 0.5m and a length of 2m, where each car occupies 15 cells, and the middle cell represents the position of the car;

[0029] Step 2: Determine the interacting vehicles in the lane changing process. Let car i be the target vehicle, car i-1 be the car in front of the current lane of car i, car i+1 be the car behind the current lane of car i, car j-1 be the car in front of the target lane of car i, and car j be The following car on the target lane of car i;

[0030] When the distance between vehicles is greater than the critical gap (safety distance) d of interaction safe When the interaction betw...

specific Embodiment approach 2

[0041] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the interactive critical gap d in the step 2 safe The expression is:

[0042] d safe =min(v i +a i ,v max )-min(v j +a j ,v max ) (1)

[0043] where: v j is the speed of car j at time t, in m / s; T is the step length of lane change, v i is the longitudinal velocity of the target vehicle i at time t, in m / s; v max is the maximum speed of car i, in m / s; a i is the acceleration of i car, the unit is m / s 2 ;aj is the acceleration of j car, the unit is m / s 2 .

[0044] Car j is the following car on the target lane.

[0045] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0046] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that in the step 3, the driving benefit increment ΔB and the distance d before and after the lane change of the target car i are determined i,j The generation of lane-changing intention is often caused by the difference in driving interests between the current lane and the target lane. The greater the increase in driving interest after lane-changing, the more obvious the driver's lane-changing intention. The specific process is:

[0047] According to the distance and speed difference between the target car and the front car, define the driving benefits of the current lane;

[0048] According to the distance and speed difference between the target vehicle and the vehicle behind the target lane, define the driving benefits of the target lane;

[0049] Define the driving benefit increment ΔB according to the driving benefit difference between the target lane and the current lane;

[0050] The d...

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Abstract

A multi-vehicle interaction lane-changing decision-making method considering driving benefit increment, in particular relates to a multi-vehicle interaction lane-changing decision-making method. The purpose of the present invention is to solve the problems of low accuracy and poor safety in the existing multi-vehicle interchange lane changing process. The process is as follows: 1: Divide the road into grids with cells with a width of 0.5m and a length of 2m; Car j has no effect, and car j continues to drive in the previous car-following state; otherwise, when car i changes lanes, it first turns on the turn signal to send a lane change request, and changes lanes according to the response of car j. Three: determine the driving benefit increment and distance before and after the target car i changes lanes; four: give the lane change decision according to the driving benefit increment and the distance between the target car and the car behind the target lane. The invention is used in the technical field of road traffic safety active prevention and control.

Description

technical field [0001] The invention belongs to the technical field of active prevention and control of road traffic safety, and in particular relates to a decision-making method for multi-vehicle interaction lane change. Background technique [0002] Lane changing behavior of vehicles is the most common driving behavior in micro-traffic flow. The lane changing process is accompanied by the interaction and game process between vehicles, which generates local turbulence inside the traffic flow, causing certain congestion, which in turn affects the dynamic stability of road traffic flow, and there are hidden dangers to traffic safety. According to statistics, the number of road traffic accidents caused by vehicles changing lanes accounts for about 27% of the total number of accidents. As a part of active traffic accident prevention and control technology, multi-vehicle interactive lane change can guide drivers to take corresponding measures before traffic accidents to avoid t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18
CPCB60W30/18163
Inventor 马艳丽吕志良冯树民杨龙海张鹏
Owner HARBIN INST OF TECH
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