A method of queue changing lanes

Abstract

The invention discloses a method for changing lanes in a platoon. The method includes the following steps: 1) according to the forward direction of the convoy, sequentially number the vehicles V 1 , V 2 , V 3 , V x ...V n , the driving speed of the platoon is v; 2) V x Judging whether the vehicle behind in the target lane satisfies a safe distance; 3) Vehicle V x After changing lanes, the remaining vehicles V 1 , V 2 , V 3 ...V n Form a new queue; 4) the tail car V of the new queue n with vehicle V x Keep a horizontal distance to avoid being overtaken in the target lane; 5) V 1 Judging whether the vehicle in front of the target lane meets the safety distance; 6) Confirm that there are no other vehicles in the target lane; 7) When the conditions are met at the same time, the new queue will change lanes collectively; 8) Feedback the status of the completed lane change. The lane-changing method of the queue of the invention can keep the leading vehicle unchanged, the lane-changing conditions can be easily met, and lane-changing can be realized at any time, the implementation difficulty of the software algorithm is reduced, and the lane-changing time is shortened.

Description

technical field [0001] The invention belongs to the technical field of the field of intelligent vehicles, and in particular relates to a method for changing lanes in a queue. Background technique [0002] On the expressway, vehicles running in a queue can save labor costs on the one hand, reduce fuel consumption on the other hand, and ensure safety to the greatest extent. During the driving process, the queuing vehicles need to change lanes according to the planned route and actual traffic conditions. Compared with the single-vehicle automatic driving lane change, the queuing lane change is more difficult. [0003] At present, the lane-changing decision-making method of the vehicle queue on the expressway mainly includes the following steps: 1) The head vehicle A in the queue first judges that the lane-changing condition is satisfied and then changes lanes; After the conditions are met, change lanes to the front of car A; 3) Set distance between car B and car A so that subs...

AI Technical Summary

Problems solved by technology

The above method adopts the method of changing the leading vehicle to the rear vehicle, the follower vehicle to the leading vehicle, and other vehicles to change lanes in turn, which has the following disadvantages: (1) The front vehicle of the queue changes during the lane change process, and the communication strategy and following strategy of the original queue It needs to be changed in real time, and the requirements for the automatic driving controller are high, and the implementation is difficult; (2) After the leading vehicle completes the lane change, the following vehicle must first complete overtaking before starting to change lanes, which will be affected by the two lanes ahead. Influenced by vehicles, the time for changing lanes is too long. Even if it is guaranteed that non-queuing vehicles will not enter the queue, it is easy to cause traffic jams

However, the above method requires the tail car and the head car to judge that the front and rear meet the safety distance at the same time, and the conditions for changing lanes are too strict, and it is difficult to meet them in the actual driving process, and it is impossible to change lanes at any time

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