Vehicle automatic lane changing control method

A control method and vehicle technology, applied in the field of vehicle lane change control, can solve problems such as the inapplicability of sliding mode control

Active Publication Date: 2021-03-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the sliding mode control is not suitable for the vehicle lane change process with complex task conditions, and the traditional PID control has disadvantages in adapting to actual traffic scenarios.

Method used

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  • Vehicle automatic lane changing control method
  • Vehicle automatic lane changing control method

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Embodiment Construction

[0129] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0130] like figure 1 As shown, a vehicle automatic lane change control method includes the following steps:

[0131] S1. Construct a two-lane five-lane road scene model, and define the pose coordinates and state space of the vehicle;

[0132] S101. Constructing a two-lane five-lane road scene model:

[0133]Suppose the main vehicle H changes lanes to the left. During the driving process of the vehicle, the surrounding environment of the vehicle generally includes four vehicles in the front and rear of the original lane and the target lane where the main vehicle H is located. In a two-lane road section, there are four related vehicles around. They are moving steadily in a straight line at a constant speed under normal conditions. The main...

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Abstract

The invention discloses a vehicle automatic lane changing control method, which comprises the following steps of S1, constructing a double-lane five-vehicle road scene model, and defining pose coordinates and a state space of a vehicle; and S2, constructing a control strategy from three aspects of traceability, safety and comfort, and completing a trajectory tracking task, wherein the step comprises four sub-steps of traceability performance design, safety performance design, comfort performance design and controller design. According to the vehicle automatic lane changing control method, theautomatic lane changing capacity in the road environment can be provided for the vehicle, the lane changing controller is designed through model prediction control, the road scene model is constructed, and coordination of the vehicle tracking performance, the safety performance and the comfort performance is achieved.

Description

technical field [0001] The invention relates to vehicle lane change control, in particular to a vehicle automatic lane change control method. Background technique [0002] At present, the research on the driving system of unmanned vehicles mainly focuses on the longitudinal manipulation of the road, and less consideration is given to lateral movement such as lane changing. The lateral movement of the vehicle is also an extremely frequent and critical part of road driving. As for the traditional adaptive cruise control system (adaptive cruise control, ACC), it has the ability to cruise at a fixed speed and follow the car at a fixed distance, but it cannot perform effective lane changing behavior. ACC is further upgraded to cooperative adaptive cruise control (CACC) by adding vehicle-to-vehicle communication. And the lane-changing control system designed based on CACC can give vehicles the ability to change lanes automatically, so as to improve the efficiency and safety of t...

Claims

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Application Information

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IPC IPC(8): B60W30/18
CPCB60W30/18163
Inventor 蒋朝阳贾一飞盛树轩王慷王星琦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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