车联网环境下高速公路合流区换道协调决策与控制系统设计

Design of Lane Changing Coordination Decision and Control System in Expressway Confluence Areas under the Internet of Vehicles Environment

为了降低高速公路合流区车辆换道碰撞风险、提高道路通行质量,在车联网环境下,优化设计高速公路合流区换道协调决策与控制系统;通过安装车联网终端芯片、改装协调控制器,完成硬件系统的优化;根据高速公路合流区的物理结构,设置换道区域约束条件;在车联网环境下采集高速公路合流区车路信息,根据换道紧迫程度、跟随车辆换道行为、车间距离安全性的计算结果,作出换道协调决策;规划合流区最优协调换道轨迹作为系统控制目标,最终计算位置、速度控制量,在控制器支持下,实现高速公路合流区换道协调控制功能;通过系统测试得出结论:所设计系统的车辆换道碰撞概率和道路拥塞程度分别为0.15%和0.20%,道路车流量得到明显提升,车流量的平均值为356 pcu/d;车辆速度控制误差为0.05 km/h,实验结果表明所设计系统在决策与控制性能方面具有明显优势。

In order to reduce the risk of vehicle lane changing collision in the merging area of highways and improve the quality of road traffic,a coordinated decision-making and control system for lane changing in the merging area of highways is optimized and de-signed in the context of vehicle networking.The hardware system is optimized by installing the Internet of Vehicles terminal chip and modifying the coordination controller.The constraints for lane changing areas are set by the physical structure of the highway conflu-ence area.The vehicle route information on the confluence area of highways is collected in the context of vehicle networking,and the lane changing coordination decisions are determined by the calculation results of lane changing urgency,following vehicle lane chan-ging behavior,and workshop distance safety.The optimal coordinated lane change trajectory of the merging area is planned as a sys-tem control objective to ultimately calculate the position and speed control variables.With the support of the controller,the coordina-ted lane change control function is achieved in the expressway merging area.The testing results show that the designed system has a lane change collision probability of 0.15%and road congestion degree of o.2o%,respectively.The road traffic flow has been signifi-cantly improved,with an average value of 356 pcu/d.The vehicle speed control error is 0.05 km/h,and the experimental results show that the designed system has significant advantages in decision-making and control performance.