Self-adaptive safe lane changing control method and system for heterogeneous vehicle queue

Abstract

The invention belongs to the technical field of intelligent traffic and vehicle control, and provides a self-adaptive safe lane changing control method and system for a heterogeneous vehicle queue, and the method comprises the steps: obtaining the vehicle motion information of the heterogeneous vehicle queue, and considering the transverse information, the vehicle course angle and the wheel steering angle of the heterogeneous vehicle queue, constructing a transverse and longitudinal two-way heterogeneous vehicle queue model; according to the constructed transverse and longitudinal bidirectional heterogeneous vehicle queue model, determining a two-dimensional elliptical safety area of the heterogeneous vehicle queue, and calculating a transverse lane changing distance and a longitudinal safety distance of the heterogeneous vehicle queue; based on the obtained transverse lane changing distance and the longitudinal safe distance, a coupling sliding mode surface is constructed, a time-varying sliding mode boundary layer and a dynamic compensation item are designed, transient disturbance is inhibited by dynamically adjusting the range of the involved time-varying sliding mode boundary layer, and the speed and the distance between the vehicles in the heterogeneous vehicle queue are judged and adjusted through the dynamic compensation item. And the self-adaptive safe lane changing control of the heterogeneous vehicle queue is completed.

Description

Technical Field

[0001] This invention belongs to the field of intelligent transportation and vehicle control technology, specifically relating to an adaptive safe lane change control method and system for heterogeneous vehicle platoons. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Vehicle platooning systems are a crucial component of intelligent transportation systems and a significant application scenario for connected autonomous driving technology. Through control algorithms, they enable multi-vehicle collaboration, ensuring that all vehicles in the platoon can autonomously and stably track the lead vehicle's driving status and maintain a safe distance, significantly improving driving automation levels and traffic efficiency. Currently, research on vehicle platooning systems mainly falls into two categories: homogeneous and heterogeneous vehicle platooning systems. Homogeneous platooning systems assume that all vehicles must be identical in terms of vehicle length, mass, reaction time, deceleration capability, initial speed, and wireless communication access. Heterogeneous platooning systems, on the other hand, better meet practical needs, allowing vehicles within the platoon to have different performance characteristics and models. Regardless of whether the system is homogeneous or heterogeneous, the control objective is to achieve stable longitudinal tracking behavior through inter-vehicle network communication.

[0004] In existing intelligent transportation systems, vehicle platooning is widely considered a key technology for improving road traffic efficiency, reducing energy consumption, and enhancing driving safety. Typical application scenarios include commercial vehicle fleets (such as truck platoons) on highways and intelligent connected vehicle fleets.

[0005] Real traffic environments are dynamic and open, while traditional vehicle queuing control strategies are mostly designed based on "static and closed" models. This leads to a serious disconnect between theory and practice, specifically in the following aspects: The entry and exit of unplanned vehicles is the norm, not the exception; On highways, vehicles often enter the main road from ramps, hoping to join an existing platoon to enjoy the energy-saving and labor-saving benefits of following other vehicles. In addition, a large platoon may also receive vehicles from other sections of the road under the command of a dispatch center.

[0006] Vehicles in a convoy may need to leave the convoy safely and orderly because they are about to reach their destination, need to exit the ramp, or have a vehicle malfunction.

[0007] Traditional static control strategies have the following limitations, specifically: When a vehicle suddenly joins or leaves, it instantly alters the topology and dynamics of the platoon. This "step-like" disturbance propagates through the platoon like a wave, causing subsequent vehicles to experience violent acceleration or braking (i.e., "acceleration oscillations"), which can even lead to rear-end collisions and disrupt the stability of the platoon.

[0008] Existing vehicle merging and de-merging schemes rely on a central controller for global command. When a vehicle joins or leaves the platoon, the control commands for all vehicles need to be recalculated. This not only creates a huge communication and computational burden but also poses a single point of failure risk. Once the central node fails, the entire platooning system will be unable to handle dynamic changes in vehicles.

[0009] During lane changes, vehicles need to control not only longitudinal distance but also ensure lateral safety to avoid collisions with vehicles in adjacent lanes. Many existing studies separate longitudinal and lateral control, making it difficult to provide integrated safety assurance in complex dynamic processes.

[0010] Current research on cooperative lane changing for autonomous vehicle platoons in mixed traffic flows only considers human-driven traffic environments and achieves lane changing operations by merging the entire platoon into adjacent lanes at ramps in mixed flows. However, in large platoons, a few vehicles cannot attempt to leave the platoon. Therefore, there is an urgent need for a control method for safe lane changing, which allows following vehicles to accelerate and catch up with the departing vehicle to fill the gap after an individual vehicle leaves the platoon, while maintaining the stability of the new platoon. Summary of the Invention

[0011] To address the aforementioned issues, this invention proposes an adaptive safe lane-change control method and system for heterogeneous vehicle platoons. By constructing an adaptive sliding mode optimization controller that combines a time-varying sliding mode boundary layer and a dynamic compensation term, the system ensures that empty lanes are quickly filled after a vehicle leaves, allowing for rapid recovery to stable operation after minor disturbances. This effectively solves the challenges of longitudinal and lateral coordinated safety control, maintaining platoon stability, reducing communication dependencies, and supporting empty lane filling during dynamic lane changes and vehicle departures in heterogeneous vehicle platoons.

[0012] According to some embodiments, the first aspect of the present invention provides an adaptive safe lane change control method for heterogeneous vehicle platoons, employing the following technical solution: An adaptive safe lane change control method for heterogeneous vehicle platoons includes: Obtain vehicle movement information from heterogeneous vehicle queues; Based on the acquired vehicle motion information, considering the lateral information, vehicle heading angle, and wheel steering angle of the heterogeneous vehicle queue, a bidirectional heterogeneous vehicle queue model is constructed. Based on the constructed heterogeneous vehicle queue model in both horizontal and vertical directions, the two-dimensional elliptical safety region of the heterogeneous vehicle queue is determined. Within the defined two-dimensional elliptical safety area, calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle platoon. Based on the obtained lateral lane change distance and longitudinal safety distance, a coupled sliding mode surface is constructed, a time-varying sliding mode boundary layer and a dynamic compensation term are designed, and transient disturbances are suppressed by dynamically adjusting the range of the involved time-varying sliding mode boundary layer. The speed and spacing between vehicles in the heterogeneous vehicle queue are evaluated and adjusted by the dynamic compensation term to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

[0013] As a further technical limitation, the constructed heterogeneous vehicle queuing model in both horizontal and vertical directions is as follows: ;in, , , , and ( ) respectively represent the first The vehicle's current longitudinal position, lateral position, heading angle, speed, and acceleration; For input quantity, For steering angle, It is the longitudinal distance between the front and rear wheels.

[0014] Furthermore, the determined two-dimensional elliptical safety region of the heterogeneous vehicle queue for ;in, and These are the weighting coefficients used to adjust the lengths of the semi-major and semi-minor axes of the ellipse; semi-major axis , For reaction time, It is the maximum value of the absolute value of the maximum feasible acceleration. Indicates the minimum safe distance. For the first The length of the car body, This represents the minimum spacing.

[0015] As a further technical limitation, the dynamic compensation items involved... for ;in, It is a discrete compensation parameter. It is a speed error.

[0016] As a further technical limitation, the constructed coupling sliding surface is ;in, It is a constant. For sliding surface, These are design parameters.

[0017] Furthermore, the time-varying sliding mode boundary layer involved is ;in, This is a dynamically adjusted factor.

[0018] According to some embodiments, the second aspect of the present invention provides an adaptive safe lane-changing control system for heterogeneous vehicle platoons, employing the following technical solution: An adaptive safe lane change control system for heterogeneous vehicle platoons includes: The acquisition module is configured to acquire vehicle movement information from a heterogeneous vehicle queue. The building module is configured to construct a heterogeneous vehicle queue model in both the horizontal and vertical directions based on the acquired vehicle motion information, taking into account the lateral information of the heterogeneous vehicle queue, the vehicle heading angle and the wheel steering angle. The determination module is configured to determine the two-dimensional elliptical safety region of the heterogeneous vehicle queue based on the constructed bidirectional heterogeneous vehicle queue model. The calculation module is configured to calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle queue within a defined two-dimensional elliptical safety area. The control module is configured to construct a coupled sliding surface based on the obtained lateral lane change distance and longitudinal safety distance, design a time-varying sliding boundary layer and dynamic compensation terms, suppress transient disturbances by dynamically adjusting the range of the involved time-varying sliding boundary layer, and evaluate and adjust the speed and spacing between vehicles in the heterogeneous vehicle queue through the dynamic compensation terms to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

[0019] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in the first aspect of the present invention.

[0020] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in the first aspect of the present invention.

[0021] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in the first aspect of the present invention.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention defines a two-dimensional elliptical safety domain and designs an adaptive fuzzy sliding mode optimal controller for longitudinal control. For lateral control, constraints are constructed using a control obstacle function, and an optimal lateral trajectory satisfying the safety constraints is generated by solving a quadratic programming problem, ensuring longitudinal tracking and lateral safety of the vehicle during dynamic lane changes.

[0023] Considering the transient disturbance caused by vehicle departure, this invention proposes a control strategy based on dynamic compensation mechanism and time-varying sliding mode boundary layer to effectively manage the gap filling problem after vehicle departure, thereby ensuring the boundedness of all states during topology switching and guaranteeing the continuity of the queue.

[0024] This invention transmits information only with neighboring vehicles and does not rely on a central node. It can ensure the smoothness of vehicles leaving the convoy by limiting the state change amplitude of adjacent vehicles, and dynamically adjust the boundary layer range to achieve smooth vehicle de-convoy operation without the need for global topology reconstruction, which significantly improves the adaptability of the system.

[0025] This invention eliminates the need for controller redesign, improving the flexibility of vehicle entry and exit. It only requires information exchange between adjacent members, eliminating reliance on a central node and preventing system failure from occurring in the first place, thus enhancing system continuity, stability, and adaptability. Attached Figure Description

[0026] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0027] Figure 1 This is a flowchart of an adaptive safe lane change control method for heterogeneous vehicle platoons according to Embodiment 1 of the present invention; Figure 2 This is a flowchart illustrating the vehicle departure process of the adaptive safe lane change control method for heterogeneous vehicle platoons in Embodiment 1 of the present invention. Figure 3 This is a schematic diagram of the vehicle lane-changing process in Embodiment 1 of the present invention and a schematic diagram of the elliptical safety area during the operation process; Figure 4 This is a snapshot diagram of the vehicle's trajectory during the departure process in Embodiment 1 of the present invention; Figure 5 The longitudinal position of the vehicle in Embodiment 1 of the present invention A schematic diagram of the curve; Figure 6 The lateral position of the vehicle in Embodiment 1 of the present invention A schematic diagram of the curve; Figure 7 The vehicle speed in Embodiment 1 of the present invention A schematic diagram of the curve; Figure 8 The vehicle acceleration in Embodiment 1 of the present invention A schematic diagram of the curve; Figure 9 Vehicle spacing error in Embodiment 1 of the present invention A schematic diagram of the curve; Figure 10 This is a structural block diagram of an adaptive safe lane change control system for heterogeneous vehicle platoons according to Embodiment 2 of the present invention. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0032] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0033] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0034] Example 1 Embodiment 1 of this invention introduces an adaptive safe lane change control method for heterogeneous vehicle platoons.

[0035] like Figure 1 An adaptive safe lane change control method for heterogeneous vehicle platoons is shown, comprising: Obtain vehicle movement information from heterogeneous vehicle queues; Based on the acquired vehicle motion information, considering the lateral information, vehicle heading angle, and wheel steering angle of the heterogeneous vehicle queue, a bidirectional heterogeneous vehicle queue model is constructed. Based on the constructed heterogeneous vehicle queue model in both horizontal and vertical directions, the two-dimensional elliptical safety region of the heterogeneous vehicle queue is determined. Within the defined two-dimensional elliptical safety area, calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle platoon. Based on the obtained lateral lane change distance and longitudinal safety distance, a coupled sliding mode surface is constructed, a time-varying sliding mode boundary layer and a dynamic compensation term are designed, and transient disturbances are suppressed by dynamically adjusting the range of the involved time-varying sliding mode boundary layer. The speed and spacing between vehicles in the heterogeneous vehicle queue are evaluated and adjusted by the dynamic compensation term to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

[0036] like Figure 2 As shown, this embodiment employs fuzzy sliding mode control technology during the adaptive safe lane change control of heterogeneous vehicle platoons. Specifically: Based on a third-order model considering vehicle position, velocity, and acceleration, lateral information is added. Simultaneously considering vehicle heading angle and wheel steering angle, a more realistic model of a heterogeneous vehicle platooning system with both lateral and longitudinal axes is constructed. Based on the system's safety requirements, a two-dimensional elliptical safety domain is defined, which can both avoid lateral lane change collisions and maintain longitudinal safety distances. Based on the requirements for spacing error and string stability maintenance, a coupled sliding surface is constructed; A time-varying sliding boundary layer is designed based on the coupled sliding surface, and transient disturbances are suppressed by dynamically adjusting the boundary layer range. Simultaneously, a dynamic compensation term is designed to evaluate and adjust the speed and spacing between vehicles, ensuring the platoon has the ability to fill gaps after a vehicle leaves. If the vehicle does not change lanes, the two-way system model degenerates into a longitudinal third-order nonlinear system model, where both the steering angle and heading angle are 0. Consider a system with... A heterogeneous convoy of vehicles travels along a long, straight road, with the desired trajectory of each vehicle provided by the first vehicle in the convoy.

[0037] In a heterogeneous vehicle queue, such as Figure 3 The diagram illustrates a vehicle lane-changing process and the two-dimensional elliptical safety zone during the operation. The design process of the adaptive fuzzy sliding mode optimal control algorithm for a heterogeneous vehicle platooning system based on vehicles leaving the platoon is as follows: Consider a A heterogeneous convoy of vehicles travels along a long, straight road, with the desired trajectory of each vehicle provided by the first vehicle in the convoy.

[0038] Specifically, the system model for any vehicle in the convoy is as follows:

[0039] in, , , , and ( ) respectively represent the first The vehicle's current longitudinal position, lateral position, heading angle, speed, and acceleration. For input quantity, This is the steering angle. It is the longitudinal distance between the front and rear wheels. , These are unknown dynamic characteristics derived by considering tire rolling behavior. Indicates satisfaction Unknown external disturbance terms ( (Numbers that are positive constants). For vehicle quality, For mechanical efficiency, For the engine time constant, , and These are air density, frontal cross-sectional area, and drag coefficient, respectively. For road slope function, This is the road rolling resistance coefficient. It is the acceleration due to gravity. This refers to the road slope angle. Represented as an unknown constant, This is the tire radius.

[0040] Specifically, the two-dimensional elliptical safety region is:

[0041] in, and It is used for adjustment Figure 2 The weighting coefficients for the semi-major and semi-minor axes of the ellipse shown. And the semi-major axis... , For reaction time, It is the maximum value of the absolute value of the maximum feasible acceleration. Indicates the minimum safe distance. For the first The length of the car body, This represents the minimum spacing.

[0042] If vehicle Maintaining a straight line, meaning that at all times... Then the two-dimensional elliptic safety region will degenerate into the standard elliptic equation:

[0043] For scenarios where lane-changing behavior does not occur, the above formula can be simplified to a longitudinal safety distance to reduce computational complexity. The longitudinal spacing error is given by the following formula:

[0044] To leverage the advantages of sliding mode control in handling disturbances and model uncertainties, a control algorithm for a sliding mode control environment was constructed.

[0045] Specifically, if the vehicle does not change lanes, the bidirectional system model degenerates into a longitudinal third-order nonlinear system model, where both the steering angle and heading angle are 0. The system model is as follows:

[0046] To leverage the advantages of sliding mode control in handling disturbances and model uncertainties, a control algorithm for a sliding mode control environment was constructed.

[0047] Specifically, to achieve the control objective, the sliding surface is designed as follows:

[0048] in, These are design parameters.

[0049] To facilitate proof of the string's stability, the coupled sliding surface is adopted as follows:

[0050] in, It is a constant.

[0051] The derivative of the coupled sliding surface is:

[0052] in, .

[0053] The time-varying sliding mode boundary layer is:

[0054] in, This is a dynamically adjusted factor.

[0055] Specifically, to mitigate transient disturbances in the queue after a vehicle leaves, the following definition is given to ensure stability by limiting the amplitude of state changes of adjacent vehicles: Definition 1: When internal vehicles When leaving, its adjacent vehicles and The rate of change of the sliding surface must satisfy: (1) ; (2) .

[0056] in, and It is a positive number. The rate of change of the sliding surface when adjacent vehicles leave is limited in order to avoid controlling vibration. Allowed Adjust short-term spacing errors to prevent excessive acceleration.

[0057] Specifically, to assess and adjust the speed and spacing between vehicles, and to ensure that the convoy has the ability to fill gaps after a vehicle leaves, a dynamic compensation item is designed as follows:

[0058] in, It is a discrete compensation parameter. It is a speed error.

[0059] Specifically, the control design of the heterogeneous vehicle platooning system under stable longitudinal operation includes: To obtain the optimal control law Define the performance index of the quadratic form:

[0060] The local utility function is set as follows: .

[0061] To solve the above optimization problem, we first introduce the Hamiltonian function as follows:

[0062] in, , This represents gradient operation.

[0063] Specifically, based on the Bellman optimality principle, the cost function is defined as:

[0064] in For optimal controller, This represents a compact set containing the origin.

[0065] There exists a corresponding Hamilton-Jacobi-Bellman equation:

[0066] make Then the optimal controller satisfy:

[0067] Specifically, in order to achieve better control performance, the controller is constructed... satisfy:

[0068] in, and , .

[0069] Specifically, because fuzzy logic systems have a strong ability to approximate unknown nonlinear terms, therefore they use... and To estimate and Assumption:

[0070]

[0071] in, and Describes the reconstruction error, and satisfies and , and It is an unknown constant.

[0072] Due to ideal weights and It is unknown, function and It needs to be obtained through estimation, specifically:

[0073]

[0074] in and They are and The estimated value.

[0075] Specifically, based on the optimal controller and the construction The calculation update control input is represented as follows:

[0076] The design parameter update law is as follows:

[0077]

[0078] in , , and These are design parameters.

[0079] Secondly, based on the longitudinal optimal controller, an optimal lateral trajectory control method that satisfies safety constraints is proposed, including: Specifically, let the earliest start time of the lateral movement be... The end time is The optimal longitudinal trajectory in the above aspect. ( For reference, the optimal lateral trajectory can be determined by solving the following optimal control problem:

[0080] To ensure that vehicles do not collide with neighboring vehicles during lane changes, our goal is to ensure This always holds true. According to the theory of control barrier functions, if there exists a function... satisfy:

[0081] in It is a type - The function, usually chosen to be a linear function and satisfying and If so, then the system is secure.

[0082] Time range Using a fixed time step Discretization is performed. Each sampling time is defined as... ,in And construct a quadratic programming problem. Within each control cycle, the following problem needs to be solved: .

[0083] This problem can be solved efficiently within each control cycle, ensuring safety and tracking performance.

[0084] This embodiment designs a corresponding compensation mechanism to mitigate the impact of transient disturbances caused by vehicle departures on the overall stability of the platoon, ensuring that the heterogeneous vehicle platoon system can still maintain stable and safe operation when vehicles leave.

[0085] To demonstrate the effectiveness of this embodiment, the following simulation verification was performed: In this simulation experiment, a heterogeneous vehicle convoy consisting of 8 following vehicles and 1 lead vehicle is considered. All vehicles have identifiable states and the system is controllable. Some simulation parameters are set as shown in Table 1: Table 1 System Parameters

[0086] The initial state of all vehicles is set as follows: , , , , .

[0087] To verify the effectiveness of the adaptive optimal safe lane-changing control method for heterogeneous vehicle queuing systems with vehicle departure function proposed in this embodiment, MATLAB simulation software was used to obtain... Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 .

[0088] Figure 4 A snapshot of the complete trajectory is presented. The trajectory distribution when multiple vehicles broke away from the convoy is also shown.

[0089] Figure 5 and Figure 6 The longitudinal and lateral position trajectories are shown separately. It can be observed that vehicles 3 and 4 gradually moved from the main lane to the adjacent lane at the separation time t=100s, and subsequent vehicles quickly filled the gaps. The remaining vehicles remained in the main lane and maintained good tracking performance. Figure 7 and Figure 8 The curves showing the changes in vehicle speed and acceleration are displayed separately. It can be observed that the following vehicle begins to accelerate after t=100 seconds to quickly fill the gap left by the departing vehicle.

[0090] Figure 9 The figure shows the vehicle spacing error. It clearly shows that the error rapidly converges to a small neighborhood and tends to stabilize after the departure time t=100 seconds.

[0091] This embodiment defines a two-dimensional elliptical safety domain and designs an adaptive fuzzy sliding mode optimal controller for longitudinal control. For lateral control, constraints are constructed using a control obstacle function, and an optimal lateral trajectory that satisfies the safety constraints is generated by solving a quadratic programming problem, ensuring longitudinal tracking and lateral safety of the vehicle during dynamic lane changes.

[0092] Considering the transient disturbance caused by vehicle departure, this embodiment proposes a control strategy based on dynamic compensation mechanism and time-varying sliding mode boundary layer to effectively manage the gap filling problem after vehicle departure, thereby ensuring the boundedness of all states during topology switching and guaranteeing the continuity of the queue.

[0093] This embodiment transmits information only with neighboring vehicles and does not rely on a central node. It can ensure the smoothness after leaving the convoy by limiting the state change range of adjacent vehicles. It can achieve smooth vehicle de-convoy operation by dynamically adjusting the boundary layer range without the need for global topology reconstruction, which significantly improves the adaptability of the system.

[0094] This embodiment eliminates the need for controller redesign, improving the flexibility of vehicle joining and leaving. It only requires information exchange between adjacent members, without relying on a central node, thus avoiding the problem of system failure due to a single fault and improving system continuity, stability, and adaptability.

[0095] Example 2 Embodiment 2 of the present invention introduces an adaptive safe lane change control system for heterogeneous vehicle platoons.

[0096] like Figure 10 An adaptive safe lane change control system for heterogeneous vehicle platoons, as shown, includes: The acquisition module is configured to acquire vehicle movement information from a heterogeneous vehicle queue. The building module is configured to construct a heterogeneous vehicle queue model in both the horizontal and vertical directions based on the acquired vehicle motion information, taking into account the lateral information of the heterogeneous vehicle queue, the vehicle heading angle and the wheel steering angle. The determination module is configured to determine the two-dimensional elliptical safety region of the heterogeneous vehicle queue based on the constructed bidirectional heterogeneous vehicle queue model. The calculation module is configured to calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle queue within a defined two-dimensional elliptical safety area. The control module is configured to construct a coupled sliding surface based on the obtained lateral lane change distance and longitudinal safety distance, design a time-varying sliding boundary layer and dynamic compensation terms, suppress transient disturbances by dynamically adjusting the range of the involved time-varying sliding boundary layer, and evaluate and adjust the speed and spacing between vehicles in the heterogeneous vehicle queue through the dynamic compensation terms to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

[0097] The detailed steps are the same as those of the adaptive safe lane change control method for heterogeneous vehicle platoons provided in Embodiment 1, and will not be repeated here.

[0098] Example 3 Embodiment 3 of the present invention provides a computer-readable storage medium.

[0099] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in Embodiment 1 of the present invention.

[0100] The detailed steps are the same as those of the adaptive safe lane change control method for heterogeneous vehicle platoons provided in Embodiment 1, and will not be repeated here.

[0101] Example 4 Embodiment 4 of the present invention provides an electronic device.

[0102] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps in an adaptive safe lane change control method for heterogeneous vehicle platoons as described in Embodiment 1 of the present invention.

[0103] The detailed steps are the same as those of the adaptive safe lane change control method for heterogeneous vehicle platoons provided in Embodiment 1, and will not be repeated here.

[0104] Example 5 Embodiment 5 of the present invention provides a computer program product.

[0105] A computer program product includes software code, wherein the program in the software code performs the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in Embodiment 1 of the present invention.

[0106] The detailed steps are the same as those of the adaptive safe lane change control method for heterogeneous vehicle platoons provided in Embodiment 1, and will not be repeated here.

[0107] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0108] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0111] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0112] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0113] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. An adaptive safe lane change control method for heterogeneous vehicle platoons, characterized in that, include: Obtain vehicle movement information from heterogeneous vehicle queues; Based on the acquired vehicle motion information, considering the lateral information, vehicle heading angle, and wheel steering angle of the heterogeneous vehicle queue, a bidirectional heterogeneous vehicle queue model is constructed. Based on the constructed heterogeneous vehicle queue model in both horizontal and vertical directions, the two-dimensional elliptical safety region of the heterogeneous vehicle queue is determined. Within the defined two-dimensional elliptical safety area, calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle platoon. Based on the obtained lateral lane change distance and longitudinal safety distance, a coupled sliding mode surface is constructed, a time-varying sliding mode boundary layer and a dynamic compensation term are designed, and transient disturbances are suppressed by dynamically adjusting the range of the involved time-varying sliding mode boundary layer. The speed and spacing between vehicles in the heterogeneous vehicle queue are evaluated and adjusted by the dynamic compensation term to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

2. The adaptive safe lane change control method for heterogeneous vehicle platoons as described in claim 1, characterized in that, The constructed heterogeneous vehicle queuing model in both horizontal and vertical directions is as follows: ;in, , , , and ( ) respectively represent the first The vehicle's current longitudinal position, lateral position, heading angle, speed, and acceleration; For input quantity, For steering angle, It is the longitudinal distance between the front and rear wheels.

3. The adaptive safe lane change control method for heterogeneous vehicle platoons as described in claim 2, characterized in that, The determined two-dimensional elliptical safety region of the heterogeneous vehicle queue for ;in, and These are the weighting coefficients used to adjust the lengths of the semi-major and semi-minor axes of the ellipse; semi-major axis , For reaction time, It is the maximum value of the absolute value of the maximum feasible acceleration. Indicates the minimum safe distance. For the first The length of the car body, This represents the minimum spacing.

4. The adaptive safe lane change control method for heterogeneous vehicle platoons as described in claim 1, characterized in that, The dynamic compensation items involved for ;in, It is a discrete compensation parameter. It is a speed error.

5. The adaptive safe lane change control method for heterogeneous vehicle platoons as described in claim 1, characterized in that, The constructed coupling sliding surface is ;in, It is a constant. For sliding surface, These are design parameters.

6. The adaptive safe lane change control method for heterogeneous vehicle platoons as described in claim 5, characterized in that, The time-varying sliding mode boundary layer involved is ;in, This is a dynamically adjusted factor.

7. An adaptive safe lane-changing control system for heterogeneous vehicle platoons, characterized in that, include: The acquisition module is configured to acquire vehicle movement information from a heterogeneous vehicle queue. The building module is configured to construct a heterogeneous vehicle queue model in both the horizontal and vertical directions based on the acquired vehicle motion information, taking into account the lateral information of the heterogeneous vehicle queue, the vehicle heading angle and the wheel steering angle. The determination module is configured to determine the two-dimensional elliptical safety region of the heterogeneous vehicle queue based on the constructed bidirectional heterogeneous vehicle queue model. The calculation module is configured to calculate the lateral lane change distance and longitudinal safety distance of the heterogeneous vehicle queue within a defined two-dimensional elliptical safety area. The control module is configured to construct a coupled sliding surface based on the obtained lateral lane change distance and longitudinal safety distance, design a time-varying sliding boundary layer and dynamic compensation terms, suppress transient disturbances by dynamically adjusting the range of the involved time-varying sliding boundary layer, and evaluate and adjust the speed and spacing between vehicles in the heterogeneous vehicle queue through the dynamic compensation terms to complete the adaptive safe lane change control of the heterogeneous vehicle queue.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the adaptive safe lane change control method for heterogeneous vehicle queues as described in any one of claims 1-6.

10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of an adaptive safe lane change control method for heterogeneous vehicle platoons as described in any one of claims 1-6.

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