Highway cooperative vehicle lane changing control method under intelligent networking condition

Abstract

The invention discloses a highway cooperative vehicle lane changing control method under an intelligent networking condition. The method comprises the following steps of: S1, marking a plurality of vehicles randomly distributed in a highway section; S2, judging whether the vehicle is a CAV, if yes, turning to the step S3, and if not, calculating a vehicle lane changing track; S3, when the vehiclesends out a lane changing request, obtaining an initial state of the vehicle needing to be subjected to lane changing; S4, according to the vehicle position information, determining which vehicles arerelated vehicles by combining an initial state vector transmitted into the networking vehicle control center; S5, calculating an acceleration combination of vehicle lane changing according to the obtained vehicle initial state vector; S6, solving the optimal acceleration combination by adopting a traversal search algorithm; if the traversal is not completed, a scheme meeting the requirement is found, and the traversal algorithm is ended in advance; and S7, the vehicle is automatically driven according to the motion parameters calculated in the step S6.

Description

technical field [0001] The invention relates to the research field of highway vehicle lane change control technology, in particular to a highway cooperative vehicle lane change control method under the condition of intelligent network connection. Background technique [0002] With the rapid development of economy and society, the number of cars has increased sharply, which has brought about social problems such as energy shortage, environmental pollution, traffic congestion and frequent accidents. Connected Automated Vehicles (CAV) under the condition of intelligent network connection is an effective solution to these social problems and represents the future development direction of the automotive industry. Autonomous vehicles under the condition of intelligent network connection are emerging products under the background of a new round of scientific and technological revolution, which can significantly improve traffic safety, realize energy saving and emission reduction, r...

AI Technical Summary

Problems solved by technology

However, there are some shortcomings in the current research

First, the above models focus more on the restoration of vehicle motion scenes, and vehicles cannot adjust and respond according to the state of surrounding vehicles, so these models may fail in real traffic environments

Second, in terms of safety, these models do not take into account the safe distance of the vehicle, and the possible collision of the vehicle in emergency braking situations

Third, the above model does not consider the cooperative driving of vehicles, that is, the system can be optimized by manipulating multiple related vehicles.

[0005] Considering that vehicles need to change lanes when they need to change their speed or avoid risks in the expressway environment, a large number of lane changes will often lead to a sharp reduction in the capacity of expressway roads, and in severe cases, traffic paralysis will occur

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