A multi-queue vehicle bidirectional lane-changing cooperative control method and system
By constructing a bidirectional time-varying communication topology and an online adaptive algorithm for gradient tracking weights, the dynamic adaptation and safety constraints of vehicle queuing lane-changing control in complex road sections in existing technologies are solved, and stable and fast bidirectional lane-changing of multi-queue vehicles is realized.
Patent Information
- Application Number
- CN202610856737.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-15
- Publication Date
- 2026-07-17
AI Technical Summary
Existing autonomous vehicle platoon lane-changing control technologies cannot dynamically adapt to changes in communication topology caused by the addition or removal of vehicle nodes in complex road sections such as the connection area between main ramps and highways. They lack a unified bidirectional time-varying topology modeling framework, cannot adapt to dynamic changes in performance index priorities, have insufficient real-time control, and lack cross-interference safety constraints, resulting in unstable control.
By acquiring vehicle status information and lane-changing requests in real time, a two-way time-varying communication topology is constructed. A gradient-tracking-based online adaptive weight algorithm is used to build a two-way lane-changing distributed model predictive control framework. Cross-interference safety constraints are introduced to generate the optimal control sequence and realize the longitudinal and lateral coordinated movement of vehicles.
It improves the safety margin of bidirectional lane changing for multi-queue vehicles, shortens lane changing time, ensures the recursive feasibility and closed-loop stability under dynamic topology changes, and enhances control real-time performance and safety.
Smart Images
Figure CN122411075A_ABST