Vehicle cooperative lane changing strategy determination method based on dynamic safe spacing

Abstract

The invention discloses a vehicle cooperative lane changing strategy determination method based on a dynamic safe distance, and the method comprises the steps: judging whether a target vehicle has a lane changing intention or not according to the driving state information; if it is judged that the target vehicle has the lane changing intention, whether the distance between the front vehicle and the rear vehicle of the target lane meets the safety distance requirement or not is further judged, and if the leftward or rightward lane changing condition is met, lane changing operation is executed; if not, the target vehicle is deadlocked; based on a comprehensive evaluation method, an optimal lane changing strategy is selected from a plurality of preset lane changing strategies used for solving deadlock, the safety threshold value can be adjusted according to the driving state information, and the adaptability and safety of lane changing decision making are improved. Through a comprehensive evaluation method, weight distribution and evaluation analysis are carried out on a plurality of candidate lane changing strategies, the optimal lane changing strategy for solving the deadlock of the target vehicle is screened out, and the problem of lane changing deadlock in a complex scene can be effectively solved.

Description

Technical Field

[0001] The present invention relates to a method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance, belonging to the technical fields of intelligent transportation and vehicle networking. Background Art

[0002] In an urban environment, vehicles performing special tasks (such as private cars transporting pregnant women or children to hospital, emergency material transport vehicles) often expect higher driving efficiency to ensure the timely completion of tasks. However, due to the speed differences between vehicles, especially on busy urban roads, special task vehicles are easily restricted by the speeds of surrounding low-speed vehicles and cannot accelerate or change lanes, resulting in deadlocks. Deadlocks not only greatly affect the driving efficiency of the target vehicle but may also delay rescue time.

[0003] With the application and development of vehicle networking technology, lane-changing decision-making has become one of the research hotspots in the transportation field. Common research on lane-changing behavior decision-making mainly falls into three categories: rule-based, learning-based, and utility function-based. Existing research generally focuses on deadlock prevention or avoidance at intersections, but pays insufficient attention to potential deadlock problems in multi-lane urban environments. Current multi-lane cooperative lane-changing strategies still have some deficiencies. First, existing solutions overly emphasize how to improve driving efficiency while ignoring driving safety and comfort issues. Second, the analysis of different deadlock scenarios is not deep enough, and the influence of the relative position relationship between vehicles on the selection of cooperative lane-changing schemes is not fully considered. In fact, given the differences in the lane positions, speed states, and relative positions of vehicles, it is difficult for a single cooperative lane-changing scheme to be applicable to multiple deadlock scenarios. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance, which can fully analyze multiple deadlock scenarios, consider the relative position relationship between vehicles, and select the optimal lane-changing strategy.

[0005] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0006] The present invention provides a method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance, including:

[0007] Obtaining the driving state information of a target vehicle and its surrounding vehicles in real time;

[0008] Judging whether the target vehicle has an intention to change lanes according to the driving state information;

[0009] If it is judged that the target vehicle has an intention to change lanes, further judge whether the front and rear vehicle distances in the target lane meet the safety distance requirements. If the conditions for changing lanes to the left or right are met, perform a lane-changing operation; if not, the target vehicle is deadlocked;

[0010] Based on the comprehensive evaluation method, select the optimal lane-changing strategy from multiple preset lane-changing strategies for resolving deadlocks;

[0011] According to the optimal lane-changing strategy, coordinate the speeds of the involved vehicles to create a safe lane-changing space for the target vehicle, and finally the target vehicle implements and completes the lane change.

[0012] Furthermore, the driving state information includes: the speed information and position information of the target vehicle and its surrounding vehicles, and the distance between the target vehicle and the surrounding vehicles and the safety distance calculated based on the speed information and position information of the target vehicle and its surrounding vehicles.

[0013] Furthermore, the mathematical expressions for calculating the distance between the target vehicle and the surrounding vehicles and the safety distance are: ; ; ; ;

[0014] where and are respectively the positions of vehicle and at time is the lane number, and are the vehicle numbers, is the vehicle length, and are respectively the braking distances of vehicle and at time is the driving speed of vehicle at time is the distance between vehicle and at time is the driver's reaction time, is the safety distance between vehicle and at time is the safety distance between vehicle and at time is the braking distance of vehicle i at time is the speed of vehicle i at time t, is the maximum deceleration of the vehicle.

[0015] Furthermore, the determination of whether the target vehicle has a lane-changing intention specifically includes:

[0016] When then it is determined that the target vehicle has a lane-changing intention. Among them, represents the distance between vehicle and vehicle ; represents the speed of vehicle ; represents the maximum driving speed allowed by the road for vehicles.

[0017] Furthermore, the condition for changing lanes to the left is:

[0018] ;

[0019] Among them, represents the distance between vehicle and vehicle ; represents the distance between vehicle and vehicle ; represents the distance between vehicle and vehicle ; represents the safe distance between vehicle and the vehicle behind it on the left at time represents that there is no vehicle in front of vehicle in the left lane, represents that there is no vehicle behind vehicle in the left lane, represents that vehicle at time can change lanes to the left, represents that vehicle at time does not meet the lane-changing conditions.

[0020] Furthermore, the condition for changing lanes to the right is specifically:

[0021] ;

[0022] Among them, represents the distance between vehicle and vehicle ; represents the distance between vehicle and vehicle ; Indicates the vehicle and the vehicle the inter-vehicle distance between them, Indicates the safety distance between the vehicle and the vehicle behind on the right at a certain moment; Indicates the vehicle There is no vehicle in front in the right lane of, Indicates the vehicle There is no vehicle behind in the right lane; Indicates the vehicle can change lanes to the right at a certain moment.

[0023] Furthermore, the comprehensive evaluation method selects the optimal lane-changing strategy for solving deadlocks from a plurality of preset lane-changing strategies for solving deadlocks according to the driving efficiency index, safety index, and comfort index.

[0024] Furthermore, the driving efficiency , safety and comfort are expressed as:

[0025] ;

[0026] ;

[0027] ;

[0028] wherein, represents the lane-changing time of the target vehicle, represents the time required for the target vehicle to get out of the deadlock state, represents the inter-vehicle distance between the target vehicle and the vehicle in front or behind in the adjacent lane, represents the safety distance between the target vehicle and the vehicle in front or behind in the adjacent lane, represents that the target vehicle can change lanes safely; is the moment when the target vehicle gets into deadlock, is the moment when the target vehicle completes the lane change, Indicates the number of lane changes of the target vehicle and the vehicle in front of it around within; Indicates the position of the second vehicle in front of the target vehicle in the lane at a certain moment, represents the position of the target vehicle at a certain moment.

[0029] Further, coordinating the speeds of the involved vehicles according to the optimal lane-changing strategy includes: coordinating the speed of the following vehicle and the speed of the leading vehicle through a cooperative following model.

[0030] Further, the mathematical expression of the cooperative following model is:

[0031] ;

[0032] where and are the sensitivity coefficients of the driver to distance and speed difference respectively, represents the speed difference between vehicle and vehicle at time t, represents the speed difference between vehicle and vehicle at time t, is the optimal speed function corresponding to the distance, is the cooperation coefficient;

[0033] When in the free lane-changing scenario, the mathematical expression is:

[0034] ;

[0035] where , is the distance between vehicle and vehicle at time is the start time of vehicle lane-changing, is the lane-changing duration, is the distance between vehicle and vehicle at time

[0036] ;

[0037] where is the driving distance of vehicle during the lane-changing process, is the driving distance of vehicle during the lane-changing process, , , is the speed of vehicle at time is the reasonable maximum acceleration;

[0038] When in the cooperative lane-changing scenario, the mathematical expression is:

[0039] ;

[0040] When in the forced lane change scenario, the mathematical expression is:

[0041] ;

[0042] When coordinating the speed of the vehicle behind, the mathematical expression is:

[0043] If , then ;

[0044] Wherein, is the distance between the vehicle at time and the vehicle behind in the target lane is the required safe distance between the vehicle at time and the vehicle behind in the target lane is the speed of the vehicle at time, is the acceleration calculated by the cooperative following model at time

[0045] When coordinating the speed of the vehicle in front, the mathematical expression is:

[0046] If , then ;

[0047] Wherein, is the distance between the vehicle at time and the vehicle in front in the target lane is the distance between the vehicle at time and the vehicle in front

[0048] Compared with the prior art, the beneficial effects achieved by the present invention:

[0049] The present invention provides a method for determining a vehicle cooperative lane change strategy based on a dynamic safe distance. By judging whether the target vehicle has a lane change intention according to the driving state information; if it is judged that the target vehicle has a lane change intention, further judge whether the front and rear vehicle distances in the target lane meet the safe distance requirements. If the left or right lane change conditions are met, perform a lane change operation; if not, the target vehicle is deadlocked. The present invention can adjust the safety threshold according to the driving state information, improving the adaptability and safety of lane change decisions.

[0050] The present invention provides a method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance. Through a comprehensive evaluation method, it comprehensively considers the weight allocation and evaluation analysis of multiple candidate lane-changing strategies, and screens out the optimal lane-changing strategy to solve the deadlock of the target vehicle, which can effectively solve the lane-changing deadlock problem in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is the vehicle cooperative lane-changing flowchart in the embodiment of the present invention;

[0052] Figure 2 It is an example diagram of the distance and braking distance between the target vehicle and surrounding vehicles in the embodiment of the present invention;

[0053] Figure 3 It is an example diagram of the spacing between the target vehicle and surrounding vehicles in the embodiment of the present invention;

[0054] Figure 4 For the target vehicle in the embodiment of the present invention in the deadlock scenario example diagram of the lane;

[0055] Figure 5 It is a schematic diagram of the driving time result of the target vehicle under different traffic flows in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and cannot be used to limit the protection scope of the present invention.

[0057] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0058] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0059] Embodiment 1. This embodiment introduces a method for determining a vehicle cooperative lane change strategy based on a dynamic safety distance, including the following steps:

[0060] S100. Based on vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication in the vehicle network, obtain in real time the driving state information including the speed and position of the target vehicle and its surrounding vehicles, and calculate the distance between the target vehicle and its surrounding vehicles and the safety distance, as Figure 2 shown. The mathematical expressions for the distance between the target vehicle and its surrounding vehicles and the safety distance are:

[0061]

[0062]

[0063]

[0064] ;

[0065] where and are respectively the positions of vehicle at time and , is the lane number, and are the vehicle numbers, is the vehicle length, and are respectively the braking distances of vehicle at time and , is the driving speed of vehicle at time , is the distance between vehicle and at time is the driver reaction time, is the distance between vehicle and The safety distance between is the safety distance between the vehicle and at a certain moment. is the braking distance of vehicle i at a certain moment, is the driving speed of vehicle i at time t, is the maximum deceleration of the vehicle.

[0066] S200. Determine whether the target vehicle has a lane-changing intention based on its speed, the distance from surrounding vehicles, and the safety distance; if , then the target vehicle has a lane-changing intention, and step S300 is executed.

[0067] S300. Further determine whether the distance between the front and rear vehicles in the target lane meets the safety distance requirement. As Figure 3 shown, if the left or right lane-changing condition is met, the lane-changing operation is executed; if not, the target vehicle is deadlocked and waits to coordinate the speed of the target vehicle.

[0068] For a vehicle with a lane-changing intention, when the left lane-changing condition is met, it can change lanes to the left. The left lane-changing condition is:

[0069] ;

[0070] Among them, represents the distance between vehicle and vehicle , represents the distance between vehicle and vehicle , represents the distance between vehicle and vehicle , represents the safety distance between vehicle and the left-rear vehicle at a certain moment. means that there is no vehicle in front of vehicle in the left lane, means that there is no vehicle behind vehicle in the left lane. At the same time represents the vehicle can change lanes to the left at a certain moment, represents the vehicle does not meet the lane-changing condition.

[0071] Similarly, for a vehicle with the intention to change lanes, when the conditions for changing lanes to the right are met, it can change lanes to the right. The conditions for changing lanes to the right are as follows:

[0072]

[0073] Among them, represents the distance between vehicle and vehicle ; represents the distance between vehicle and vehicle ; represents the distance between vehicle and vehicle ; represents the safe distance between vehicle and the vehicle behind on the right at time means that there is no vehicle in front of vehicle in the right lane; means that there is no vehicle behind vehicle in the right lane. At the same time, represents that vehicle can change lanes to the right at time

[0074] If the current lane-changing conditions are not met, the target vehicle is blocked by the slow vehicle in front, and the surrounding vehicles fail to provide sufficient lane-changing space for it, resulting in the target vehicle being forced to follow the vehicle in front and falling into a deadlock state.

[0075] S400. Analyze various lane-changing strategies to solve deadlocks in detail. The lane-changing strategies belong to the cooperative lane-changing scheme. Then, use the TOPSIS comprehensive evaluation method to select the optimal lane-changing strategy to solve the deadlock of the target vehicle from multiple candidate lane-changing strategies, considering three indicators: driving efficiency, safety, and comfort.

[0076] Among them, the driving efficiency , safety , and comfort of the three indicators are specifically as follows:

[0077]

[0078]

[0079]

[0080] Based on three indicators of driving efficiency, safety, and comfort, various cooperative lane-changing schemes to solve deadlocks are analyzed in detail. The lane-changing strategies for the target vehicle to solve deadlocks can be divided into two categories: In the first category, the target vehicle maintains its current lane, and its leading vehicle changes lanes to give way to it; in the second category, the target vehicle actively changes lanes, and the leading vehicle in the adjacent lane changes lanes to give way to it.

[0081] In Figure 4 when the target vehicle chooses to maintain its current lane, the leading vehicle can only choose to change to the lane to give way to it; however, when the vehicle changes lanes, it needs to consider the position relationship with the leading vehicle and the following vehicle in the target lane to avoid collisions. Therefore, in the first category of situations, it is necessary to adjust the speeds of the vehicle and to ensure the safety of the lane-changing operation. When the target vehicle chooses to actively change lanes, the leading vehicle in its adjacent lane can choose to change to the lanes and to give way to it. Therefore, in the second category of situations, it is necessary to adjust the speeds of the vehicles 、 and to ensure a safe lane change; the detailed lane-changing scheme to solve the deadlock scenario shown in Figure 4 is shown in Table 1.

[0082] Table 1 Lane-changing scheme for the target vehicle in the lane

[0083]

[0084] Establish a membership matrix according to the three indicators of driving efficiency, safety, and comfort :

[0085] ;

[0086] Because driving efficiency and safety are extremely small indicators, and comfort is an extremely large indicator, the matrix is first normalized and standardized.

[0087] ;

[0088] ;

[0089] Calculate the gaps between each evaluation index and the optimal and worst vectors 、 , 、 which are expressed as:

[0090] ;

[0091] ;

[0092] Among them, is the weight of the th index, and this weight is obtained by the entropy weight method. is the maximum value of each column in the matrix , is the minimum value of each column in the matrix .

[0093] Calculate the closeness between the evaluation scheme and the optimal scheme to obtain the score of the th scheme. The score is expressed as:

[0094] .

[0095] S500, the vehicle speeds involved in the coordinated optimal cooperative lane change scheme, create a safe lane change space for the target vehicle, and finally the target vehicle resolves the deadlock and changes lanes safely. ;

[0096] Coordinate the speed of the following vehicle through the cooperative following model. When coordinating the speed of the leading vehicle, use self-deceleration. The specific cooperative following model is:

[0097]

[0098] Among them, , are the sensitivity coefficients of the driver to distance and speed difference respectively. , , represents the speed difference between vehicle and vehicle at time t. represents the speed difference between vehicle and vehicle at time t. is the optimal speed function corresponding to the distance. , is the vehicle length, which can be used as in the simulation. Other parameter values , , , , is the cooperation coefficient.

[0099] When in the free lane change scenario, the mathematical expression is:

[0100]

[0101] Among them, , is the inter-vehicle distance between the vehicle at time and the vehicle . is the start time of the lane change of the vehicle, is the lane change duration, is the inter-vehicle distance between the vehicle at time and the vehicle , specifically:

[0102]

[0103] Among them, is the driving distance of the vehicle during the lane change process, is the driving distance of the vehicle during the lane change process, , , is the speed of the vehicle at time , is a reasonable maximum acceleration.

[0104] When in a cooperative lane change scenario, the mathematical expression is:

[0105]

[0106] Case 3 is a forced lane change scenario, specifically:

[0107]

[0108] When coordinating the speed of the following vehicle, the mathematical expression is:

[0109] If , then ;

[0110] Among them, is the inter-vehicle distance between the vehicle at time and the following vehicle in the target lane , is the required safety distance between the vehicle at time and the following vehicle in the target lane , is the speed of the vehicle at time, is the acceleration calculated by the cooperative following model at time

[0111] When coordinating the speed of the vehicle in front, the mathematical expression is:

[0112] If , then ;

[0113] Among them, is the distance between the vehicle and the vehicle in front in the target lane at time is the distance between the vehicle and the vehicle in front at time

[0114] Exemplarily, the scores of each lane-changing scheme for solving the Figure 4 shown deadlock scenario are shown in Table 2; according to the TOPSIS evaluation results, the score of lane-changing scheme 1 is the highest, so lane-changing scheme 1 is determined as the optimal scheme for solving the Figure 4 shown deadlock scenario; in lane-changing scheme 1, coordinate the vehicles and speed until the vehicle has sufficient safety distance from the vehicle in front in the adjacent lane and the vehicle behind , then the vehicle changes to lane to give way to the target vehicle to solve the deadlock.

[0115] Table 2 TOPSIS evaluation results of the target vehicle in lane

[0116]

[0117] To verify the technical effects of the present invention, experimental analysis is carried out through the SUMO traffic simulation platform, comparing the SUMOLC2013 lane-changing algorithm and the Altruistic Cooperative Driving (ACD) strategy, as Figure 5As shown, the present invention exhibits excellent performance under various traffic flows. Compared with the SUMO LC2013 lane-changing algorithm, this strategy reduces the driving time by approximately 27% on average; compared with the ACD algorithm, the driving time is reduced by approximately 13.3% on average. Due to the randomness and uncertainty during vehicle driving, the target vehicle is easily affected by surrounding vehicles and gets into a deadlock state. However, the SUMO LC2013 lane-changing algorithm lacks the ability of active cooperation and cannot effectively solve the deadlock problem, so its driving time is the longest. Although the ACD algorithm alleviates the deadlock by the leading vehicle of the target vehicle changing lanes to give way, its deadlock recovery mechanism only relies on a single vehicle and has low efficiency. In contrast, the present invention more effectively solves the deadlock problem. The shorter deadlock recovery time enables the target vehicle to resume high-speed driving as soon as possible, thereby avoiding waste of driving time.

[0118] Example 2. This example provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the method described in any one of Example 1 are implemented.

[0119] Example 3. This example provides a computer device, including:

[0120] A memory for storing computer programs / instructions;

[0121] A processor for executing the computer programs / instructions to implement the steps of the method described in any one of Example 1.

[0122] Example 4. This example provides a computer program product, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the method described in any one of Example 1 are implemented.

[0123] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

[0124] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0125] This disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 means for implementing the functions specified in one block or multiple blocks.

[0126] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 means for implementing the functions specified in one block or multiple blocks.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 means for implementing the functions specified in one block or multiple blocks.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit the scope of its protection. Although the present disclosure has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: after reading the present disclosure, those skilled in the art can still make various changes, modifications, or equivalent replacements to the specific implementation manners of the invention, but these changes, modifications, or equivalent replacements are all within the scope of protection of the pending claims of the disclosure.

Claims

1. A method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance, characterized in that Including: Obtaining the driving state information of the target vehicle and the surrounding vehicles in real time; Judging whether the target vehicle has a lane-changing intention according to the driving state information; If it is judged that the target vehicle has a lane-changing intention, further judge whether the distance between the front and rear vehicles in the target lane meets the safety distance requirement. If the left or right lane-changing condition is met, perform the lane-changing operation; if not, the target vehicle gets deadlocked; Based on the comprehensive evaluation method, select the optimal lane-changing strategy from multiple preset lane-changing strategies for solving deadlock; According to the optimal lane-changing strategy, coordinate the speeds of the involved vehicles to create a safe lane-changing space for the target vehicle, and finally the target vehicle implements and completes the lane change.

2. The method for determining a vehicle cooperative lane change strategy based on a dynamic safety distance according to claim 1, wherein The driving state information includes: the speed information and position information of the target vehicle and its surrounding vehicles, and the distance between the target vehicle and the surrounding vehicles and the safety distance calculated according to the speed information and position information of the target vehicle and its surrounding vehicles.

3. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 2, wherein The mathematical expression for calculating the distance between the target vehicle and the surrounding vehicles and the safety distance is: ； ； ； ； Among them, , are respectively the positions of the vehicle , at the moment, is the lane number, and are the vehicle numbers, is the vehicle length, , are respectively the braking distances of the vehicle , at the moment, is the driving speed of the vehicle at the moment, is the distance between the vehicle and at the moment, is the driver's reaction time, is the safety distance between the vehicle and at the moment, is the safety distance between the vehicle and at the moment, is the braking distance of vehicle i at the moment, is the driving speed of vehicle i at time t, is the maximum deceleration of the vehicle.

4. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 3, wherein The judgment of whether the target vehicle has a lane-changing intention specifically includes: When it is determined that the target vehicle has a lane-changing intention; Among them, represents the vehicle and the vehicle the distance between them, represents the vehicle speed, represents the maximum driving speed allowed for vehicles on the road.

5. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 4, wherein The condition for changing lanes to the left is: ； Among them, represents the distance between vehicles and vehicle ; represents the distance between vehicles and vehicle ; represents the distance between vehicles and vehicle ; represents the safe distance between vehicle and the vehicle behind on the left at time represents that there is no vehicle in front of vehicle in the left lane; represents that there is no vehicle behind vehicle in the left lane; represents that vehicle can change lanes to the left at time represents that vehicle does not meet the lane-changing conditions at time 6. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 4, wherein The condition for changing lanes to the right is specifically: ； Among them, represents the vehicle and the vehicle the inter-vehicle distance between them, represents the vehicle and the vehicle the inter-vehicle distance between them, represents the vehicle and the vehicle the inter-vehicle distance between them, represents the safety distance between the vehicle and the vehicle behind on the right at a certain moment. represents that there is no vehicle in front of the vehicle in the right lane, represents that there is no vehicle behind the vehicle in the right lane; represents at a certain moment the vehicle can change lanes to the right.

7. The method for determining a vehicle cooperative lane change strategy based on a dynamic safety distance according to claim 1, wherein The comprehensive evaluation method selects the optimal lane-changing strategy for solving deadlock from multiple preset lane-changing strategies according to the driving efficiency index, safety index and comfort index.

8. The method for determining a vehicle cooperative lane change strategy based on a dynamic safety distance according to claim 7, characterized in that, Driving efficiency , safety and comfort The expression is: ； ； ； Among them, represents the lane-changing time of the target vehicle, represents the time required for the target vehicle to get out of the deadlock state, represents the distance between the target vehicle and the vehicle in front or behind in the adjacent lane, represents the safety distance between the target vehicle and the vehicle in front or behind in the adjacent lane, indicates that the target vehicle can change lanes safely; is the moment when the target vehicle gets into deadlock, is the moment when the target vehicle completes the lane change, represents the number of lane changes of the target vehicle and the vehicle in front of it around within represents the position of the second vehicle in front of the target vehicle in the lane at the moment, represents the position of the target vehicle at the moment.

9. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 8, wherein Coordinating the speeds of the involved vehicles according to the optimal lane-changing strategy includes: coordinating the speed of the following vehicle and the speed of the leading vehicle through the cooperative following model.

10. The method for determining a vehicle cooperative lane-changing strategy based on a dynamic safety distance according to claim 9, wherein The mathematical expression of the cooperative following model is: ； Among them, and are the sensitivity coefficients of the driver to distance and speed difference respectively, represents the vehicle and the vehicle at time t, represents the vehicle and the vehicle at time t, is the optimal speed function corresponding to the distance, is the cooperation coefficient; When in the free lane-changing scenario, the mathematical expression is: ； Among them, , is the vehicle-to-vehicle distance at time between vehicle and vehicle is the start time of lane change, and is the vehicle-to-vehicle distance at time between vehicle and vehicle, specifically: ； Among them, is the driving distance during the lane change process of the vehicle is the driving distance during the lane change process of the vehicle is the vehicle is the driving distance during the lane change process of the vehicle , , is the speed of the vehicle at time and is the reasonable maximum acceleration; When in the cooperative lane-changing scenario, the mathematical expression is: ； When in the forced lane-changing scenario, the mathematical expression is: ； When coordinating the speed of the following vehicle, the mathematical expression is: If , then ; Among them, is the vehicle's spacing from the vehicle behind in the target lane at time is the vehicle's required safety spacing from the vehicle behind in the target lane at time is the speed of the vehicle at time, and is the acceleration calculated by the cooperative following model at time When coordinating the speed of the leading vehicle, the mathematical expression is: If , then ; Among them, is the distance between the vehicle at time and the vehicle in front in the target lane , and is the distance between the vehicle at time and the vehicle in front .

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