基于车联网的汽车自动换道方法研究

为弥补现有汽车自动换道时未考虑周围车辆运动状态变化以及舒适性差和通行效率低等方面的不足,同时提出了在车联网条件下的汽车自动换道方法,主要包括动态轨迹的规划、前馈与反馈相结合的PQ跟踪控制策略两部分,开展Carsim和simulink联合仿真以及实车验证结果表明,与传统非动态自动换道方法相比,该方法能有效解决在换道过程中周围车辆车速变化及车辆突然闯入等情况的难题,明显提高了换道过程中的安全性,由数据分析可知在保证车辆舒适性、稳定性的同时,换道时间缩短了20%,有效提高了车辆换道效率。

In order to make up for the current shortcomings of the automatic lane change of cars,such as not considering the changing motion of the surrounding vehicles,poor comfort and low traffic efficiency,an automatic lane change method under the condition of the internet of vehicles was proposed which mainly included the dynamic trajectory planning and the PID tracking control strategy combining feedforward and feedback.Finally,Carsim and simulink joint simulation and the real vehicle verification were carried out.The results showed that,compared with the traditional non-dynamic automatic lane change method,this method can effectively solve the problems of surrounding vehicle speed changes and sudden vehicle intrusion during the lane changing process,and significantly improved the safety during that process.The data analysis showed that while ensuring the comfort and stability of the vehicle,the lane change time was shortened by 20%,which effectively improved the vehicle lane change efficiency.