基于V2V的高速换道轨迹多目标规划

Multi-objective planning of high-speed lane changing trajectory based on V2V

为了解决传感器式智能车辆换道灵活性差和安全性低等问题,提出一种V2V模式下的高速换道模型.在换道起始时刻,通过V2V获取周围交通车的状况,确定与周围交通车在换道前应该保持最小的安全换道距离,判断换道的可行性.换道条件允许的情况下,采用多项式函数对车辆的换道轨迹进行描述.并建立了权衡换道舒适性和效率的目标函数对轨迹进行多目标规划,为车辆规划出该交通环境下的最优换道轨迹.结果表明:与非V2V换道模型相比,在换道空间不够充裕的情况下,通过V2V规划出来的轨迹,在换道过程中与周围车辆保持着更大的安全车距;CarSim仿真中车辆轨迹跟踪误差和动力学参数都控制在合理的范围内,进一步说明多目标优化的轨迹可以综合提升换道的效果,使得车辆能够适应不同交通环境.

To solve the problems of poor flexibility and low safety of sensor-type intelligent vehicles on lane changing,a high-speed lane changing model was proposed based on vehicles to vehicles(V2V)mode.At the start of lane changing,all conditions of the surrounding traffic vehicles were determined through V2V,and the minimum safe distance of lane changing with the surrounding traffic vehicles was obtained to judge the feasibility of lane changing.A polynominal function was used to describe the trajectory under the permission of lane changing conditions.The objective function for balancing the comfort and efficiency was established to implement the multi-objective planning of lane changing trajectory for selecting an optimal trajectoty under the traffic environment.The results show that when the lane changing space is not enough,compared with the non-V2V lane changing model,the vehicle can maintain larger safe distance from surrounding vehicles by V2V mode.In the CarSim simulation,the trajectory tracking error and dynamic parameters of the vehicle are controlled within reasonable range,which indicates that the multi-objective optimized trajectory can comprehensively improve the effect of lane changing and enable the vehicle to adapt to the flexible traffic environments.