基于车车通信的车辆并行协同自动换道控制

Cooperative Same-direction Automated Lane-changing Based on Vehicle-to-vehicle Communication

为研究多车协同自动换道,分析了三车道八车场景中两车协同行为,对两车并行协同行为进行界定,提出了两车并行协同自动换道控制策略。针对三车道八车场景,以车车通信为条件,实时获取周围车辆的运动状态变化和换道意图,根据周围车辆的运动状态,设计了两车协同换道轨迹模型,规划换道车辆的参考协同换道轨迹。在此基础上,提出了并行协同自动换道安全距离模型,以形成换道车辆与周围车辆的换道轨迹约束,保证生成安全可靠的协同换道轨迹。最终根据规划的安全参考轨迹,采用模型预测控制算法,实时优化换道车辆的速度和前轮转角,实现轨迹纵横向跟踪。仿真结果表明,所提出的并行协同控制策略能够实现两车安全协同自动换道,同时提高换道效率。

To research about muhi-vehicle cooperative lane-changing, the cooperative behavior of 8 vehicles in 3 lanes with classifying that as same-direction lane-changing of 2 vehicles is analyzed and the cooperative automated lane-changing maneuver is proposed. Based on vehicle-to-vehicle communication, for the scenarios of $ vehicles in 3 lanes, based on vehicle-to-vehicle communication, each vehicle can acquire the movement information and the intention about the surrounding vehicles. The cooperative lane-changing trajectory model between the 2 vehicles is designed to plan the cooperative trajectory of the lane-changing vehicle according to the surrounding vehicles＇motion information. On this basis, the 2-vehicle cooperative lane-changing safety distance model is proposed to form a safe constraint of lane-changing trajectory between the lane-changing vehicle and other surrounding vehicles, to ensure to generate a safe and reliable cooperative lane-changing trajectory. Finally, the model predictive control （MPC） algorithm is used to achieve longitudinal and lateral tracking control in accordance with the planed safe reference trajectory with optimizing the speed and front wheel angle in run time. The result of simulation experiments shows that the 2-vehicle cooperative lane- changing maneuver can improve lane-changing efficiency with the ability of accomphshing the lane-changing task safely and comfortably.