A vehicle lane-changing dynamic regulation method in a networked environment

Abstract

The application discloses a lane-changing dynamic regulation method for a vehicle in a network environment, which comprises the following steps: 1, judging whether the target vehicle has a lane-changing demand; 2, calculating an estimated lane-changing track of the target vehicle; 3, calculating a cost function in combination with comfort and efficiency; 4, calculating a safety range for avoiding a collision of the target vehicle; 5, calculating a safety range for avoiding a rollover of the target vehicle; 6, adjusting the speed and weight of the target vehicle in combination with the safety ranges; and 7, repeating the above steps until the control time length ends. The application is favorable for improving the road congestion status and improving the traffic efficiency and safety, thereby improving the road traffic capacity.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of networked vehicle traffic control, and particularly relates to a dynamic regulation method for vehicle lane changing in a networked environment. BACKGROUND

[0002] Urban roads are the traffic arteries connecting the medium and long distance travel between the internal regions of a city, and their safe and efficient operation plays a crucial role in the overall traffic stability of the urban road network system. However, with the continuous increase in traffic volume, the traffic pressure is also increasing, and the traffic safety problem is becoming increasingly serious, especially the large number of lane changing behaviors on the road, which greatly increases the traffic conflicts and reduces the traffic efficiency.

[0003] With the development of networked automatic driving technology and vehicle-road cooperation technology, we have a new way to solve traffic problems. Compared with manually driven vehicles, networked automatic driving vehicles can travel with shorter headway, faster reaction speed and more intelligent driving behavior. However, in a series of recent automatic driving vehicle tests, a series of accidents have occurred, especially in frequent lane changing, the control algorithm embedded in the automatic driving vehicle fails when facing the real-time dynamic changes of the road environment. SUMMARY

[0004] The present application overcomes the deficiencies of the prior art and proposes a dynamic regulation method for vehicle lane changing in a networked environment, in order to dynamically adjust the vehicle lane changing trajectory under the premise of ensuring safe operation of the vehicle, thereby improving the efficiency of vehicle lane changing and the overall road capacity.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] The dynamic regulation method for vehicle lane changing in a networked environment is characterized in that the motor vehicles in the networked environment are all networked automatic driving vehicles, and the one-way lanes in the networked environment are numbered from the inside to the outside as the jth lane, where j = 1, 2... N, N > 2, and the traffic volume of the (j-1)th lane is less than that of the jth lane; the dynamic regulation method comprises the following steps:

[0007] Step 1, defining a target vehicle A on the jth lane, a first vehicle B on the (j-1)th lane and in front of the A vehicle, and a first vehicle C on the (j-1)th lane and behind the A vehicle;

[0008] Taking the vehicle A head position as the origin, taking the vehicle driving direction of the jth lane as the positive direction of the x-axis, and taking the direction perpendicular to the x-axis and pointing to the (j-1)th lane as the positive direction of the y-axis, a plane rectangular coordinate system is established;

[0009] Defining T as the total regulation time and Δt as the update time interval.

[0010] Speed of target vehicle A at time t is collected by roadside intelligent traffic equipment and heading angle θ t Speed of vehicle B Acceleration and head position horizontal coordinate Speed of vehicle C Acceleration and head position horizontal coordinate

[0011] Step 2, determine whether vehicle A needs to change from the jthlane to the (j-1)thlane to obtain a faster speed at time t, if so, go to step 3; otherwise, go to step 10;

[0012] Step 3, calculate the estimated lane-changing trajectory of vehicle A by formula (1);

[0013]

[0014] In formula (1), x A and y A represent the horizontal coordinate and the vertical coordinate of the head of vehicle A, respectively; represents the horizontal coordinate of the head of vehicle A at the estimated lane-changing end point; represents the vertical coordinate of the road center line of the (j-1)thlane, i.e. the vertical coordinate of the head of vehicle A at the estimated lane-changing end point;

[0015] Step 4, calculate the comprehensive cost J of lane-changing efficiency and comfort by formula (2) to obtain

[0016]

[0017] In formula (2), represents the lateral acceleration of vehicle A at time t; represents the maximum acceleration that is comfortable for people; t a represents the entire lane-changing time of vehicle A; represents the maximum lane-changing time; w represents the weight; y′ A represents the first derivative of the trajectory function; τ represents the vehicle reaction time;

[0018] Step 5, calculate the collision avoidance range of the final position horizontal coordinate of vehicle A;

[0019] Step 5.1, calculate the head vertical position of vehicle B and the head vertical position of vehicle C

[0020]

[0021] Step 5.2, calculate the safety distance S between vehicle A and vehicle B using formula (4) B and the safety distance S between vehicle A and vehicle C C ;

[0022]

[0023] In formula (4), and respectively represent the maximum acceleration of vehicle A, vehicle B and vehicle C;

[0024] Step 5.3, get the safety range of vehicle A to avoid collision: where L B represents the length of vehicle B;

[0025] Step 6, calculate the rollover avoidance range of the final position horizontal coordinate of vehicle A;

[0026] Step 6.1, calculate the boundary of the final position horizontal coordinate of vehicle A when rollover occurs using formula (5)

[0027]

[0028] In formula (6), represents the critical lateral acceleration when vehicle A rolls over;

[0029] Step 6.2, get the rollover avoidance safety range of the final position horizontal coordinate of vehicle A:

[0030] Step 7, if the safety range of the final position horizontal coordinate of vehicle A is Otherwise, go to step 8;

[0031] Step 7.1, if maintain the speed and weight w of vehicle A, continue to change lanes, and execute step 10;

[0032] If reduce the speed and weight w of vehicle A, so that fall within the safety range, continue to change lanes, and execute step 10; if the speed and weight w are reduced, always cannot fall within the safety range, give up changing lanes, and execute step 10;

[0033] If increase the speed and weight w of vehicle A, so that fall into the safety range, continue to change lanes, and execute step 10; if the speed and the weight w are increased, always fail to fall into the safety range, abandon the lane change, and execute step 10;

[0034] Step 8, if the safety range of the final position horizontal coordinate of vehicle A is otherwise, go to step 9;

[0035] Step 8.1, if maintain the speed and the weight w of vehicle A, continue to change lanes, and execute step 10;

[0036] if reduce the speed and the weight w of vehicle A, so that fall into the safety range, continue to change lanes, and execute step 10; if the speed and the weight w are reduced, always fail to fall into the safety range, abandon the lane change, and execute step 10;

[0037] if increase the speed and the weight w of vehicle A, so that fall into the safety range, continue to change lanes, and execute step 10; if the speed and the weight w are increased, always fail to fall into the safety range, abandon the lane change, and execute step 10;

[0038] Step 9, if vehicle A abandons the lane change, and executes step 10;

[0039] Step 10, assign t+Δt to t, judge whether t>T is true, if true, end the control process; otherwise, return to step 2 and execute sequentially.

[0040] The traffic intelligent device has the characteristics that wireless communication means is used to interconnect with the road section network automatic driving vehicle, acquire road vehicle information, and publish information to the network automatic driving vehicle.

[0041] The computer readable storage medium has the characteristics that the readable storage medium is programmed according to the dynamic control method, and is run by a processor.

[0042] Compared with the prior art, the beneficial technical effects of the present application are embodied in:

[0043] 1、The present application establishes a cubic polynomial dynamic simulation vehicle lane changing trajectory, so that the regulation of the lane changing process is more accurate, and the lane changing comfort and efficiency are comprehensively considered, ensuring the efficiency of lane changing while ensuring the comfort of lane changing.

[0044] 2、The present application introduces a collision avoidance algorithm and a roll avoidance algorithm, and finally obtains a safe lane changing range by comprehensively considering the two algorithms, which not only ensures the avoidance of collision with the front and rear vehicles, but also avoids the vehicle from rolling during lane changing. When it is impossible to ensure both algorithms at the same time, the lane changing will be interrupted to ensure the safety of lane changing.

[0045] 3、Compared with the prior art, the present application constantly reacquires traffic information at a certain time step, and constantly adjusts the vehicle lane changing trajectory according to the real-time traffic information, thereby improving the traffic operation efficiency of vehicle lane changing. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is the overall flowchart of the present application;

[0047] Figure 2 is the decision method flowchart of the present application;

[0048] Figure 3 is the scene schematic diagram of the present application. DETAILED DESCRIPTION

[0049] In this embodiment, a dynamic regulation method for vehicle lane changing in a network environment is provided. The motor vehicles in the network environment are all networked automatic driving vehicles. The one-way lane in the network environment is numbered from the inside to the outside as the jth lane, where j=1, 2...N (N≥2), and the traffic volume of the (j-1)th lane is less than that of the jth lane. The dynamic regulation method comprises the following steps:

[0050] Step 1, as shown in Figure 3 , define the target vehicle in the jth lane as A, the first vehicle in the (j-1)th lane and relative to the front of A as B, and the first vehicle in the (j-1)th lane and relative to the rear of A as C;

[0051] Take the vehicle A head position as the origin, take the vehicle driving direction of the jth lane as the positive direction of the x axis, and take the direction perpendicular to the x axis and pointing to the (j-1)th lane as the positive direction of the y axis to establish a plane rectangular coordinate system;

[0052] Define T as the total regulation time, and Δt as the time interval for updating once;

[0053] Collect the speed and the heading angle θ t of the target vehicle A at time t by using the roadside intelligent traffic device, the speed and the acceleration and the lateral coordinate of the vehicle head position the speed of the vehicle C acceleration and the lateral coordinate of the vehicle head position

[0054] Step 2, judge whether the vehicle A needs to change from the jthlane to the j-1thlane to obtain a faster speed at time t, if yes, go to step 3; otherwise, go to step 10.

[0055] Step 3, calculate the estimated lane-changing trajectory of the vehicle A by using formula (1);

[0056]

[0057] In formula (1), x A and y A respectively represent the lateral coordinate and the longitudinal coordinate of the vehicle head of the vehicle A; represents the lateral coordinate of the vehicle head of the vehicle A at the estimated lane-changing end point; represents the longitudinal coordinate of the road center line of the j-1thlane, i.e. the longitudinal coordinate of the vehicle head of the vehicle A at the estimated lane-changing end point.

[0058] Step 4, comprehensively consider the lane-changing efficiency and the lane-changing comfort, and calculate the comprehensive cost J of the lane-changing efficiency and the comfort by using formula (2) to obtain

[0059]

[0060] the comfort of the lane-changing is reflected by the size of the lateral acceleration at the final position;

[0061] In formula (2), represents the lateral acceleration of the vehicle A at time t; represents the maximum acceleration that is comfortable for people; t a represents the whole lane-changing time of the vehicle A; represents the longest lane-changing time; w represents the weight; y′ A represents the first derivative of the trajectory function; τ represents the reaction time of the vehicle.

[0062] Step 5, calculate the collision avoidance range of the lateral coordinate of the final position of the vehicle A;

[0063] Step 5.1, calculate the longitudinal position of the vehicle head of the vehicle B when the vehicle A finishes lane-changing by using formula (3) and the longitudinal position of the vehicle head of the vehicle C

[0064]

[0065] Step 5.2, calculate the safety distance S between the vehicle A and the vehicle B by using formula (4)B and the safety distance S between vehicle A and vehicle C C ;

[0066]

[0067] In formula (4), and respectively represent the maximum acceleration of vehicle A, vehicle B and vehicle C;

[0068] Step 5.3, obtaining the safety range of vehicle A to avoid collision: wherein L B represents the vehicle length of vehicle B.

[0069] Step 6, calculating the rollover avoidance range of the lateral coordinate of the final position of vehicle A;

[0070] Step 6.1, calculating the boundary of the lateral coordinate of the final position of vehicle A when rollover occurs by using formula (5)

[0071]

[0072] In formula (6), represents the critical lateral acceleration when vehicle A rolls over;

[0073] Step 6.2, obtaining the rollover avoidance safety range of the lateral coordinate of the final position of vehicle A:

[0074] As Figure 2 The flow chart of the decision method shows that the intersection of the collision avoidance safety range and the rollover avoidance safety range has three cases, which are introduced in steps 7, 8 and 9.

[0075] Step 7, if At this time, the collision avoidance safety range has met the rollover avoidance safety range, and the safety range of the lateral coordinate of the final position of vehicle A is Otherwise, go to step 8;

[0076] Step 7.1, if then keep the speed of vehicle A and the weight w, continue to change lanes, and execute step 10;

[0077] If then reduce the speed of vehicle A and the weight w, so that falls within the safety range, continue to change lanes, and execute step 10; if the speed and the weight w are reduced, If the safety range cannot be reached, the lane changing is abandoned and step 10 is performed; the weight w is adjusted, i.e. the efficiency or comfort is sacrificed to adjust the lane changing end position;

[0078] If the speed of vehicle A is increased and the weight w is increased, so that the safety range is reached, the lane changing is continued and step 10 is performed; if the speed of vehicle A and the weight w are increased, the safety range cannot be reached, the lane changing is abandoned and step 10 is performed. If the speed of vehicle A is increased and the weight w is increased, so that the safety range is reached, the lane changing is continued and step 10 is performed; if the speed of vehicle A and the weight w are increased,

[0079] Step 8, if the safety range of the final position of vehicle A is otherwise, step 9 is entered;

[0080] Step 8.1, if the speed of vehicle A is kept and the weight w is kept, the lane changing is continued and step 10 is performed; If

[0081] the speed of vehicle A is decreased and the weight w is decreased, so that the safety range is reached, the lane changing is continued and step 10 is performed; if the speed of vehicle A and the weight w are decreased, the safety range cannot be reached, the lane changing is abandoned and step 10 is performed. If the speed of vehicle A is increased and the weight w is increased, so that the safety range is reached, the lane changing is continued and step 10 is performed; if the speed of vehicle A and the weight w are increased, the safety range cannot be reached, the lane changing is abandoned and step 10 is performed.

[0082] If the speed of vehicle A is increased and the weight w is increased, so that the safety range is reached, the lane changing is continued and step 10 is performed; if the speed of vehicle A and the weight w are increased, the safety range cannot be reached, the lane changing is abandoned and step 10 is performed. Step 9, if the intersection of the collision avoidance safety range and the rollover avoidance safety range is empty, vehicle A abandons the lane changing and step 10 is performed;

[0083] Step 10, t+Δt is assigned to t, and it is determined whether t>T is true; if true, the control process is ended; otherwise, step 2 is returned to be sequentially performed. In the embodiment, an electronic device includes a memory for storing a program supporting a processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0084] In the embodiment, an electronic device includes a memory for storing a program supporting a processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0085] In the embodiment, an electronic device includes a memory for storing a program supporting a processor to execute the above method, and the processor is configured to execute the program stored in the memory.​​​

[0086] In this embodiment, a computer readable storage medium stores a computer program, and the computer program, when executed by a processor, performs the steps of the above method.

Claims

1. A method for dynamic lane-changing control of vehicles in a connected environment, characterized in that, The motor vehicles in the networked environment are all networked automatic driving vehicles, and the one-way lanes in the networked environment are respectively denoted as the jth lane from inside to outside, where j = 1, 2,..., N, , and the traffic volume of the (j-1)th lane is less than that of the jth lane. The dynamic control method includes the following steps: Step 1: Define the target vehicle in lane j as A, the first vehicle in lane j-1 that is in front of A as B, and the first vehicle in lane j-1 that is behind A as C. Establish a Cartesian coordinate system with the front position of vehicle A as the origin, the direction of travel of vehicles in lane j as the positive direction of the x-axis, and the direction perpendicular to the x-axis and pointing towards lane j-1 as the positive direction of the y-axis. Define T as the total control duration. Indicates the time interval between updates; The speed of target vehicle A at time t is collected using roadside intelligent transportation equipment. and heading angle The speed of vehicle B acceleration x-coordinate of the front position of the car The speed of vehicle C acceleration x-coordinate of the front position of the car ; Step 2: Determine whether vehicle A needs to change from lane j to lane j-1 at time t to obtain a faster speed. If so, proceed to step 3; otherwise, proceed to step 10. Step 3: Calculate the estimated lane-changing trajectory of vehicle A using equation (1); (1) In equation (1), and These represent the horizontal and vertical coordinates of the front of vehicle A, respectively. This represents the lateral coordinate of the front of vehicle A at the estimated end point of the lane change; The ordinate represents the longitudinal coordinate of the road centerline of lane j-1, which is the longitudinal coordinate of the front of vehicle A at the estimated lane change endpoint. Step 4: Calculate the combined cost J of lane-changing efficiency and comfort using equation (2). ; (2) In equation (2), Let t represent the lateral acceleration of vehicle A at time t; This indicates the maximum acceleration that makes a person feel comfortable. This indicates the total lane-changing time for vehicle A; Indicates the longest lane change time; w represents the weight. This represents the first derivative of the trajectory function; Indicates vehicle reaction time; Step 5: Calculate the collision avoidance range of the final horizontal coordinate of vehicle A; Step 5.1: Calculate the longitudinal position of the front of vehicle B when vehicle A completes the lane change using equation (3). The longitudinal position of the front of vehicle C ; (3) Step 5.2: Calculate the safe distance between vehicle A and vehicle B using equation (4). and the safe distance between vehicle A and vehicle C ; (4) In equation (4), , and These represent the maximum accelerations of vehicle A, vehicle B, and vehicle C, respectively. Step 5.3: Obtain the safe collision avoidance range for vehicle A: ,in, This indicates the length of vehicle B; Step 6: Calculate the rollover avoidance range of the final horizontal coordinate of vehicle A; Step 6.1: Calculate the boundary of the final horizontal coordinate of vehicle A when it rolls over using equation (5). ; (5) In equation (6), This represents the critical lateral acceleration at which vehicle A overturns. Step 6.2: Obtain the safe rollover range of the final x-coordinate of vehicle A: ; Step 7, if Then the safe range of the final x-coordinate of vehicle A is Otherwise, proceed to step 8; Step 7.1, if Then maintain the speed of vehicle A. With weight w, continue changing lanes and execute step 10; like Then reduce the speed of vehicle A. And weight w, so that Once within a safe zone, continue changing lanes and proceed to step 10; if the speed... After the weight w is reduced, If you are unable to fall into a safe area, abandon the lane change and proceed to step 10; like Then increase the speed of vehicle A. And weight w, so that Once within a safe zone, continue changing lanes and proceed to step 10; if the speed... After the weight w increases, If you are unable to fall into a safe area, abandon the lane change and proceed to step 10; Step 8, if Then the safe range of the final x-coordinate of vehicle A is obtained. Otherwise, proceed to step 9; Step 8.1, if Then maintain the speed of vehicle A. With weight w, continue changing lanes and execute step 10; like Then reduce the speed of vehicle A. And weight w, so that Once within a safe zone, continue changing lanes and proceed to step 10; if the speed... After the weight w is reduced, If you are unable to fall into a safe area, abandon the lane change and proceed to step 10; like Then increase the speed of vehicle A. And weight w, so that Once within a safe zone, continue changing lanes and proceed to step 10; if the speed... After the weight w increases, If you are unable to fall into a safe area, abandon the lane change and proceed to step 10; Step 9, if If so, vehicle A abandons the lane change and proceeds to step 10; Step 10, Assign to ,judge If the condition is met, the control process ends; otherwise, return to step 2 and execute sequentially.

2. An electronic device, comprising a memory and a processor, characterized in that, The memory is used to store a program that supports a processor in executing the method of claim 1, the processor being configured to execute the program stored in the memory.

3. A computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to perform the steps of the method of claim 1.

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