考虑换道风险的智能车辆最优车道选择策略研究

Research on Optimal Lane Selection Strategy for Intelligent Vehicles Considering Lane Changing Risk

为实现智能车辆安全、高效换道,提出一种最优车道选择策略。首先,计算驾驶员对当前车道不满程度,判断是否需要换道;其次,计算目标车辆以规划轨迹换道时的静、动态风险,判断换道是否存在碰撞风险;最后,在无碰撞风险的情况下,根据目标车辆在目标车道是否可以达到期望车速,以及达到期望车速所需时间确定最优车道。结果表明:所提出的策略可以降低换道风险62.62%,提高目标车辆期望车速满足率至89.1%。

In order to ensure safe and efficient lane changing of intelligent vehicles,this paper proposed the optimal lane selection strategy.Firstly,the driver’s dissatisfaction with the current lane was calculated to determine whether it was necessary to change lanes.Secondly,the static and dynamic risk of the target vehicle during lane changing with planned trajectory was calculated to judge whether there was collision risk in changing lanes.Finally,the optimal lane was determined according to whether the target vehicle can reach the desired speed in the target lane and the time required to reach the desired speed,under the condition of no collision risk.The results show that the strategy proposed in this paper can reduce lane change risk by 62.62%and improve the expected speed satisfaction rate of the target vehicle to 89.1%.