Vehicle lane changing cooperation method based on vehicle-road cooperation

Abstract

The invention provides a vehicle lane changing cooperation method based on vehicle-road cooperation, and the method comprises the steps: obtaining the motion parameters and position information of all vehicles through a road test sensing device, constructing a vehicle safety potential field model according to the position information, and then substituting the motion parameters into the vehicle safety potential field model, and obtaining the minimum longitudinal safety distance of a lane changing vehicle; creating a candidate cooperative party set, calculating conflict intervals between the lane changing vehicle and adjacent vehicles and between the vehicles in the candidate cooperative party set and the adjacent vehicles according to the position information, and adding the adjacent vehicles with the conflict intervals smaller than the minimum longitudinal safety distance into the candidate cooperative party set; and according to the motion parameters and the position information of the vehicles and the lane changing vehicles in the candidate cooperative party set, enabling the vehicles in the candidate cooperative party set to accelerate / decelerate. The problems that in the prior art, the action range is limited, cooperative interaction between vehicles is lacked, and accurate guiding strategies and suggestions are difficult to provide for the vehicles from the global traffic environment are solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a vehicle lane changing cooperation method based on vehicle-road collaboration. Background Art

[0002] In a complex dynamic topology environment of human-vehicle-road networks, there are a series of problems such as low availability of perception data, opaque vehicle intentions, and unclear collaborative interaction relationships. Vehicle-to-Everything (V2X) technology, as an important part of the intelligent transportation system, aims to improve traffic safety, efficiency and comfort through real-time information exchange and synergy between vehicles and environmental elements such as road infrastructure, other vehicles and pedestrians, and can adapt to various complex road scenarios. According to the definition of "Technical Requirements for Application Layer Interaction of Cooperative Intelligent Transportation Systems Part 1: Intent Sharing and Collaboration" (hereinafter referred to as the "Standard"), the collaborator refers to a remote vehicle in the lane of the requester that may affect its execution intention. In the vehicle-road collaboration scenario, the roadside system can issue guidance strategies to intelligent connected vehicles. In the process of vehicle-road collaboration, the coordination and guidance of vehicles by road sections depends on accurate and real-time collaborator identification methods to ensure that the collaboration strategy can be accurately issued and effectively executed.

[0003] For self-driving vehicles based on single-vehicle intelligence, all targets within the perception range of the self-vehicle that may affect driving behavior are regarded as "obstacles". Although the existing self-vehicle control algorithm will automatically control the vehicle to avoid obstacles on the driving path, the algorithm has the following problems: ① The selected collaborative party does not consider the indirect impact on subsequent vehicles. According to traffic wave theory, traffic flow is not always stable, but will fluctuate and change under different conditions, and will indirectly affect the surrounding communication environment. Only collaborative guidance of vehicles around the lane-changing vehicle may affect subsequent vehicles; ② For accidents such as bridge and tunnel collapse and major traffic accidents ahead, road testing should provide advanced guidance to the vehicle side. The existing collaborative party identification algorithm cannot meet the above requirements, and the safety of collaboration needs to be improved. In summary, the existing technical solutions have a limited scope of action and lack collaborative interaction between vehicles. It is difficult to provide vehicles with accurate guidance strategies and suggestions based on the global traffic environment. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a vehicle lane changing cooperation method based on vehicle-road collaboration, which solves the problems in the prior art of limited scope of action, lack of cooperative interaction between vehicles, and difficulty in providing vehicles with accurate guidance strategies and suggestions based on the global traffic environment.

[0005] According to an embodiment of the present invention, a vehicle lane change cooperation method based on vehicle-road collaboration includes:

[0006] Obtain the motion parameters and position information of all vehicles through road test perception devices, construct a vehicle safety potential field model based on the position information, and then substitute the motion parameters into the vehicle safety potential field model to obtain the minimum longitudinal safety distance of the lane-changing vehicle;

[0007] Create a set of candidate cooperation parties, calculate the conflict spacing between the lane-changing vehicle and the vehicles in the set of candidate cooperation parties and the adjacent vehicles in the current lane and the lane-changing target lane according to the position information, and add the adjacent vehicles with a conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties;

[0008] Accelerate / decelerate the vehicles in the set of candidate cooperation parties according to the motion parameters and position information of the vehicles in the set of candidate cooperation parties and the lane-changing vehicle.

[0009] Preferably, the position information includes longitude, latitude and heading angle;

[0010] The construction method of the vehicle safety potential field model includes:

[0011] Project the longitude and latitude of all vehicles onto a projection coordinate system, and calculate the plane coordinate difference between the lane-changing vehicle and other vehicles;

[0012] Taking the position where the lane-changing vehicle is located as the origin and the driving direction of the lane-changing vehicle as the positive direction of the x-axis to establish a local coordinate system;

[0013] Determine the positions of other vehicles in the local coordinate system according to the heading angle and the plane coordinate difference;

[0014] Construct a vehicle safety potential field model according to the positions of the lane-changing vehicle and other vehicles in the local coordinate system.

[0015] Preferably, the vehicle safety potential field model is as follows:

[0016]

[0017] Among them, g, W, a, and ε are all constants, is the angle between the lane-changing vehicle and other vehicles, (x HV ,y HV ) represents the coordinates of the lane-changing vehicle, (x0, y0) represents the coordinates of other vehicles, η is a speed-related undetermined parameter, and v is the vehicle speed value.

[0018] Preferably, the method of calculating the conflict spacing between all vehicles and the adjacent vehicles in the same lane according to the position information, and then adding the vehicles with a conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties includes:

[0019] A1: Calculate the conflict spacing between the lane-changing vehicle and other vehicles in the same lane and adjacent lanes, and add the other vehicles with a conflict spacing less than the minimum longitudinal safety distance to the candidate cooperation party set;

[0020] A2: For each other vehicle in the candidate cooperation party set, calculate the conflict spacing between this vehicle and the adjacent vehicle in the same lane, and add the vehicle with a conflict spacing less than the minimum longitudinal safety distance to the candidate cooperation party set;

[0021] A3: Repeat step A2 until no more vehicles are added to the candidate cooperation party set.

[0022] Preferably, the conflict distance includes the forward lean distance and the backward lean distance;

[0023] When the sum of the forward lean distance / backward lean distance of the vehicle in the candidate cooperation party set and the backward lean distance / forward lean distance of the adjacent vehicle not in the candidate cooperation party set is less than the minimum longitudinal safety distance, add the adjacent vehicle not in the candidate cooperation party set to the candidate cooperation party set.

[0024] Preferably, the calculation formula for the forward lean distance is as follows:

[0025]

[0026] The calculation formula for the backward lean distance is as follows:

[0027]

[0028] where E min is the minimum vehicle safety potential field, and R b is the farthest braking distance of the vehicle.

[0029] Preferably, after obtaining the candidate cooperation party set, it is also necessary to check whether all vehicles in the candidate cooperation party set are connected vehicles. If a vehicle is a non-connected vehicle, then remove this vehicle from the candidate cooperation party set.

[0030] Preferably, after obtaining the candidate cooperation party set, a cooperation request will be sent to all vehicles in the candidate cooperation party set. If a vehicle refuses to cooperate or does not reply after a preset time, then remove this vehicle from the candidate cooperation party set.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] By using various road test sensing devices to accurately obtain the position information and motion parameters of all vehicles on the road in real time, the acquisition range of vehicle driving information is expanded. Then, based on the position information and motion parameters, the minimum longitudinal safety distance and conflict distance between the lane-changing vehicle and other vehicles within a certain range are calculated. And according to the minimum longitudinal safety distance and conflict distance, cooperative vehicles are determined. On the premise of ensuring the safe driving of all vehicles, the cooperative vehicles are accelerated / decelerated to allow the lane-changing vehicle to safely and successfully change lanes, strengthening the collaborative interaction between vehicles. Since the driving information between all vehicles within a certain range around the lane-changing vehicle is considered, a precise guiding strategy and suggestions are provided for the lane-changing vehicle from the perspective of the global traffic environment. Brief Description of the Drawings

[0033] Figure 1 It is a flowchart of the vehicle cooperation method according to an embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the vehicle lane-changing scenario according to an embodiment of the present invention. Detailed Embodiment

[0035] The technical solutions in the present invention will be further described below in conjunction with the drawings and embodiments.

[0036] As Figure 1 shown, an embodiment of the present invention proposes a vehicle lane-changing cooperation method based on vehicle-road cooperation, including:

[0037] Obtain the motion parameters and position information of all vehicles through roadside environment sensing devices, construct a vehicle safety potential field model according to the position information, and then substitute the motion parameters into the vehicle safety potential field model to obtain the minimum longitudinal safety distance of the lane-changing vehicle;

[0038] For easy understanding, the present invention takes the three-lane lane-changing scenario as an example for illustration. As Figure 2 shown, it is a schematic diagram of the composition of the cooperative party identification scenario. The width of each lane is 3.5 meters, and the lanes are separated by white dotted lines. The roadside sensing device should have the capabilities of sensing, calculating, and communicating, and the roadside sensing device has stored the high-precision map data of the road section.

[0039] Among them, HV is the lane-changing vehicle intending to change lanes, LV1 and LV2 are the vehicles in front of the lane-changing vehicle, FV1 and FV2 are the vehicles behind the lane-changing vehicle. The lane where the lane-changing vehicle HV is located is the current lane, and the adjacent lane is the lane-changing target lane, that is, the lane that the lane-changing vehicle intends to change into.

[0040] During the driving process of the main lane-changing vehicle HV, according to the traffic conditions, front obstacle or accident information, etc., it is judged in real time whether it is necessary to cooperate to change lanes to the adjacent lane. After confirming that cooperative lane-changing is required, a cooperative lane-changing request and intention are initiated, and the lane-changing intention is uploaded to the roadside sensing device.

[0041] After the road test perception device receives the lane change intention initiated by the HV, it first matches the lane and position where the HV is located according to the high-precision map information stored in the road test, and judges whether the position where the HV is located can complete the cooperative lane change task. If the verification passes, the lane change target lane for the HV lane change is matched according to the map information and the intention information uploaded by the HV, and the current lane and the lane change target lane are defined as relevant lanes.

[0042] After that, the position information of all vehicles obtained by the road test perception device, including longitude, latitude and heading angle, is used. For the convenience of research, a local coordinate system is constructed with the centroid of the HV as the origin and the vehicle driving direction (the right direction in the figure) as the positive x-axis direction. Assume that the longitude and latitude information of the HV is (lat HV , lon HV ), the heading angle is φ HV , and the longitude and latitude information of other vehicles is (lat1, lon1), and the heading angle is φ1.

[0043] ① First, project the longitude and latitude information of all vehicles onto the projection coordinate system. Assume that the projection coordinates of the HV and other vehicles are (x0, y0) and (x1, y1) respectively.

[0044] ② Calculate the plane coordinate difference as:

[0045] Δx = x0 - x1, Δy = y0 - y1

[0046] ③ Calculate the relative coordinate system as follows:

[0047] x1' = Δx·cos(φ HV ) + Δy·sin(φ HV )

[0048] y1' = -Δy·sin(φ HV ) + Δy·cos(φ HV )

[0049] The driving risk during the lane change process mainly comes from the vehicle fields generated by the vehicles in front and behind in the current lane and the lane change target lane. Therefore, the present invention improves the driving safety potential field and defines it as follows:

[0050]

[0051] Among them, g, W, a, and ε are all constants. A local relative coordinate system is established with the tangent of the driving lane and the vehicle driving direction as the positive x-axis direction and perpendicular to the x-axis as the positive y-axis direction. is defined as the angle between the lane-changing vehicle and other vehicles.

[0052] Since the speed classification generated by the vehicle longitudinally is much smaller than that transversely, the analogy between the vehicle and the target; the distance s′ is defined as follows:

[0053]

[0054] where (x HV , y HV ) represents the coordinates of the lane-changing vehicle, (x0, y0) represents the coordinates of other vehicles, η is a to-be-determined parameter related to speed, and v is the vehicle speed value.

[0055] By defining the improved driving safety potential field in this way, information such as the vehicle's speed, acceleration, and lane-changing intention is fully considered, and the driving risk and influence area during the vehicle lane-changing process can be accurately characterized.

[0056] To ensure that the lane-changing vehicle maintains a safe distance from the adjacent vehicles in the current lane and the lane-changing target lane when changing lanes, it is necessary to calculate the minimum longitudinal safety distance between vehicles. When the lane-changing vehicle changes lanes, the distance between the adjacent vehicles in the current lane and the lane-changing target lane and the lane-changing vehicle should be greater than the minimum longitudinal safety distance.

[0057] HV is the vehicle requesting to change lanes, FV2 is the vehicle behind in the lane-changing target lane, LV2 is the vehicle in front in the lane-changing target lane, and the minimum critical safety distance G between the two vehicles at the end of the lane change min is determined by the potential field distribution at the critical moment of the two vehicles, that is, the potential field boundaries of the vehicles FV1 and HV, LV1 and HV, and LV2 and HV are tangent after the lane change is completed.

[0058] Assume that the vehicle body lengths of FV1, HV, LV1, FV2, and LV2 are respectively L HV , and is the forward lean distance of vehicle FV1 at the adjacent safety potential field value; is the backward lean distance of vehicle HV at the critical potential field value; is the forward lean distance of vehicle HV at the critical potential field value; is the backward lean distance of vehicle LV1 at the critical safety potential field value; is the forward lean distance of vehicle FV2 at the adjacent safety potential field value; is the backward lean distance of vehicle LV2 at the critical potential field value. The forward lean distance and the backward lean distance are collectively referred to as the conflict distance.

[0059] The motion parameters of the vehicle mainly include the vehicle's speed and acceleration. When the vehicle acceleration a = 0 and the speed v = 0, s′ takes the farthest braking distance R b (in this invention, it takes 50 meters), and The risks during the lane-changing process of a vehicle mainly include side collisions between the lane-changing vehicle and the vehicle in front in the current lane, rear-end collisions with the vehicle in front in the target lane of lane change, and rear-end collisions with the vehicle behind in the target lane of lane change. Assuming that the vehicles are of the same specification, we have:

[0060]

[0061] Among them:

[0062]

[0063]

[0064] On the premise that the motion state of the lane-changing vehicle remains unchanged, the time required for the speed difference between the lane-changing vehicle and other vehicles to decrease to 0 is defined as the safety critical time. Generally, if no collision occurs between the two vehicles within this time period, it can be ensured that there is no collision risk between the two vehicles during the entire lane-changing process. Assuming that the accelerations of vehicle FV1 and HV are a HV , and the speeds of the two vehicles satisfy Then the critical safety time is calculated as follows:

[0065]

[0066] Based on the above discussion, it can be obtained that for vehicle HV in the lane-changing scenario, in order to avoid collisions with the vehicles in front and behind in the target lane of lane change during the lane-changing process, it should satisfy:

[0067]

[0068] Among them, w is the vehicle width.

[0069] Similarly, the minimum longitudinal safety distance between HV and LV1 is obtained as follows:

[0070]

[0071] The minimum longitudinal safety distance between HV and LV2 is as follows:

[0072]

[0073] Create a candidate cooperation party set, calculate the conflict spacing between the lane-changing vehicle and the vehicles in the candidate cooperation party set and the adjacent vehicles in the current lane and the target lane of lane change according to the position information, and add the adjacent vehicles with a conflict spacing less than the minimum longitudinal safety distance to the candidate cooperation party set;

[0074] First, create an empty set of candidate cooperation parties preCoopeSet. According to the conflict distance and the minimum longitudinal safety distance defined in the above steps, first determine whether the conflict spacing between the HV and the vehicle LV1 in the current lane ahead, the vehicle LV2 in the target lane for lane change ahead, and the vehicle FV1 behind in the target lane for lane change meets the requirements of the minimum longitudinal safety distance. If it does not meet the requirements, add this vehicle to the preCoopeSet. For the vehicles newly added to the set of candidate cooperation parties, the above requirements should also be used to continue searching for the vehicle ahead / behind, and add the adjacent vehicles that do not meet the requirements to the set of candidate cooperation parties. The specific operations are as follows:

[0075] Taking LV1 in the set preCoopeSet as an example, the following same operations are performed:

[0076] ① Let frontCar = LV1, and search for the vehicle frontCar' ahead;

[0077] ② Calculate the forward inclination distance of frontCar and the backward inclination distance of frontCar'

[0078] ③ Verify the distance whether it meets the requirements of the minimum longitudinal safety distance (refer to the calculation formula of HV and LV1). If it does not meet the requirements, add frontCar' to the preCoopeSet and let frontCar = frontCar',

[0079] Repeat steps ① - ③, and terminate the search for the vehicle ahead if it does not meet the requirements.

[0080] ④ Similarly, if FV1 is in the set preCoopeSet, let latterCar = FV1, and search for the vehicle latterCar' behind;

[0081] ⑤ Calculate the backward inclination distance of latterCar and the forward inclination distance of latterCar'

[0082] ⑥ Verify the distance whether it meets the requirements of the minimum longitudinal safety distance. If it does not meet the requirements, add latterCar'

[0083] to the preCoopeSet and let latterCar = latterCar', and repeat steps ④ - ⑥. Terminate the search for the vehicle behind if it does not meet the requirements.

[0084] Similarly, perform the above operations on LV2 and FV2, and add the searched vehicles to the set preCoopeSet.

[0085] According to the motion parameters and position information of the vehicles in the candidate cooperation party set and the lane-changing vehicle, accelerate / decelerate the vehicles in the candidate cooperation party set.

[0086] Since vehicles are divided into connected vehicles and non-connected vehicles, not every vehicle in the candidate cooperation party set can be used as a cooperative vehicle. At the same time, connected vehicles can also refuse to cooperate. Therefore, before the lane-changing vehicle changes lanes, it is necessary to confirm the vehicles in the candidate cooperation party set to confirm whether they can be used as cooperative vehicles.

[0087] (1) Confirmation stage

[0088] For each vehicle in preCoopeSet, perform the following operations:

[0089] ① Check the vehicle type. If the vehicle is a non-networked vehicle, it should not be used as a cooperation object, and the vehicle should be removed from the candidate cooperation party set and proceed to the confirmation process of the next vehicle object; if the vehicle type is an intelligent connected vehicle, go to step ②.

[0090] ② The roadside sensing device sends a confirmation message for cooperation to the vehicle, including a cooperation request, a timestamp, and the lane-changing vehicle number. After receiving this information, the vehicle can choose to agree, refuse, or ignore the cooperation request. If the vehicle agrees to cooperate and sends the information of agreeing to cooperate back to the roadside within 500 ms, if the vehicle refuses to cooperate and sends the information of refusing to cooperate to the roadside within 500 ms, then the vehicle should not be used as a cooperation party and the vehicle should be removed from the candidate cooperation party set. If the roadside does not receive the vehicle's confirmation information within 500 ms, it is defaulted that the vehicle refuses the cooperation request and the vehicle is removed from the candidate cooperation party set.

[0091] (2) Strategy matching

[0092] First, create a cooperative vehicle set coopeSet, add all the connected vehicles that accept cooperation to the cooperative vehicle set. According to the current road conditions, the roadside will formulate a reasonable cooperation strategy to assist the lane-changing vehicle to complete the cooperative lane-changing process. For each vehicle in coopeSet, the specific strategy matching rules are as follows:

[0093] If the vehicle is located behind the lane-changing target lane of the lane-changing vehicle and its speed is greater than that of the lane-changing vehicle, the strategy formulated is "decelerate"; if the vehicle is located behind the lane-changing target lane of the lane-changing vehicle and its speed is less than or equal to that of the lane-changing vehicle, the strategy formulated is "maintain".

[0094] If the vehicle is in front of the lane-changing target lane of the lane-changing vehicle and its speed is greater than that of the lane-changing vehicle, the strategy formulated is "maintain". If the vehicle is in front of the lane-changing target lane of the lane-changing vehicle and its speed is less than or equal to that of the lane-changing vehicle, the strategy formulated is "accelerate or maintain while ensuring a safe following distance from the vehicle in front to create a lane-changing space for the lane-changing vehicle".

[0095] If the vehicle is in front of the current lane of the lane-changing vehicle and its speed is greater than that of the lane-changing vehicle, the strategy formulated is "maintain". If the vehicle is in front of the current lane of the lane-changing vehicle and its speed is less than or equal to that of the lane-changing vehicle, the strategy formulated is "accelerate or maintain while ensuring a safe following distance from the vehicle in front to create a lane-changing space for the lane-changing vehicle".

[0096] After the roadside perception device completes the strategy formulation, it sends the strategy to the corresponding vehicle. The vehicle follows the roadside recommended strategy and, under the condition of ensuring driving safety, cooperates with the lane-changing vehicle to complete the collaborative lane-changing task.

[0097] Since the vehicles in the cooperative vehicle set are not only the 4 vehicles in front of and behind the lane-changing vehicle, it more comprehensively considers the impact of any vehicle driving within a certain range around the lane-changing vehicle during the acceleration / deceleration process on other vehicles, strengthens the collaborative interaction between vehicles, and provides accurate guiding strategies and suggestions for the lane-changing vehicle from the perspective of the overall traffic environment.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A vehicle lane-changing cooperation method based on vehicle-road cooperation, characterized in that: Including: Obtain the motion parameters and position information of all vehicles through road test perception devices, construct a vehicle safety potential field model based on the position information, and then substitute the motion parameters into the vehicle safety potential field model to obtain the minimum longitudinal safety distance of the lane-changing vehicle; Create a set of candidate cooperation parties, calculate the conflict spacing between the lane-changing vehicle and the vehicles in the set of candidate cooperation parties and the adjacent vehicles in the current lane and the lane-changing target lane according to the position information, and add the adjacent vehicles with the conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties; According to the motion parameters and position information of the vehicles in the set of candidate cooperation parties and the lane-changing vehicle, accelerate / decelerate the vehicles in the set of candidate cooperation parties.

2. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 1, characterized in that: The position information includes longitude, latitude and heading angle; The construction method of the vehicle safety potential field model includes: Project the longitude and latitude of all vehicles onto a projection coordinate system, and calculate the plane coordinate difference between the lane-changing vehicle and other vehicles; Establish a local coordinate system with the position of the lane-changing vehicle as the origin and the driving direction of the lane-changing vehicle as the positive x-axis direction; Determine the positions of other vehicles in the local coordinate system according to the heading angle and the plane coordinate difference; Construct a vehicle safety potential field model according to the positions of the lane-changing vehicle and other vehicles in the local coordinate system.

3. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 2, characterized in that: The vehicle safety potential field model is as follows: where g, W, a, and ε are all constants, is the angle between the lane-changing vehicle and other vehicles, (x HV , y HV ) represents the coordinates of the lane-changing vehicle, (x0, y0) represents the coordinates of other vehicles, η is a speed-related undetermined parameter, and v is the vehicle speed value.

4. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 1, characterized in that: The method of calculating the conflict spacing between all vehicles and adjacent vehicles in the same lane according to the position information, and then adding the vehicles with the conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties includes: A1: Calculate the conflict spacing between other vehicles in the same lane and adjacent lanes as the lane-changing vehicle and the lane-changing vehicle, and add the other vehicles with the conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties; A2: For each other vehicle in the set of candidate cooperation parties, calculate the conflict spacing between this vehicle and the adjacent vehicle in the same lane, and add the vehicle with the conflict spacing less than the minimum longitudinal safety distance to the set of candidate cooperation parties; A3: Repeat step A2 until no more vehicles are added to the set of candidate cooperation parties.

5. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 4, characterized in that: The conflict distance includes the forward lean distance and the backward lean distance; When the sum of the forward lean distance / backward lean distance of the vehicle in the set of candidate cooperation parties and the backward lean distance / forward lean distance of the adjacent vehicle not in the set of candidate cooperation parties is less than the minimum longitudinal safety distance, add the adjacent vehicle not in the set of candidate cooperation parties to the set of candidate cooperation parties.

6. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 5, characterized in that: The calculation formula of the forward lean distance is as follows: The calculation formula of the backward lean distance is as follows: Among them, E min is the minimum vehicle safety potential field, and R b is the farthest braking distance of the vehicle.

7. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 1, characterized in that: After obtaining the candidate cooperation party set, it is also necessary to check whether all vehicles in the candidate cooperation party set are connected vehicles. If a vehicle is a non-connected vehicle, it will be removed from the candidate cooperation party set.

8. A vehicle lane-changing cooperation method based on vehicle-road cooperation according to claim 1, characterized in that: After obtaining the candidate cooperation party set, a cooperation request will be sent to all vehicles in the candidate cooperation party set. If a vehicle refuses to cooperate or does not reply after a preset time, the vehicle will be removed from the candidate cooperation party set.

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