基于车联网信息的自动换道方法研究

Research on Automatic Lane Change Method Based on Vehicle Network Information

针对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、通行效率低等方面的不足,提出在车联网条件下的自动换道方法。在动态轨迹规划时首先构建提高舒适性和通行效率的综合换道时间和最大加速度的目标函数;然后利用预定义的五次多项式、约束条件以及目标函数求解最优换道轨迹,并根据车联网提供的实时信息参考换道轨迹,实现数据实时更新以在前方出现突发状况时及时反馈给决策单元重新进行规划路径,防止碰撞,使得换道车辆适应周围车辆运动状态变化;最后开展Carsim和Simulink联合仿真以及实车验证。试验结果表明:相较于传统非动态自动换道方法,该方法能解决换道过程中周围车辆车速变化及车辆突然闯入等情况导致的难题,可明显提升换道过程中的安全性。数据分析证明:在保证车辆舒适性、稳定性的同时,换道时间缩短了22. 5%,提高了车辆换道效率。

In order to make up for the shortcomings of the existing automobiles in automatic change lane,not considering the change of the moving status of the surrounding environment of vehicle,and in the aspects of poor comfort and low traffic efficiency,this paper puts forward a method of automatic change lane under the condition of the vehicle network connection.Firstly,by constructing the objective function of synthetically changing time and maximum acceleration to improve comfort and traffic efficiency,the programming of dynamic lane changing track is solved by cubic spline method,constraint condition and objective function.In addition,according to the real-time information provided by the vehicle network,the lane change can be referenced,and the data can be updated in real time to feed back to the decision making unit in time when there is a sudden situation ahead,so as to prevent the collision.The vehicle of changing lane adapts to the change of the moving status of the surrounding vehicle.Finally,the joint simulation of Carsim and Simulink and the verification of real vehicle are carried out.The results show that compared with the traditional non-dynamic automatic lane changing method,this method can effectively solve the problems of vehicle speed changing and sudden vehicle intrusion in the process of changing the lane,and improve the safety of the changing process obviously.From the data analysis,it can be seen that while ensuring the vehicle comfort and stability,the changing lane time can be shortened by 22.5 percent and the efficiency of the vehicle change can be improved.