The invention provides a multi-vehicle cooperative lane changing method under a network connection condition, and the method comprises the following steps: building a driver expected vehicle followingmodel, and predicting the state of a vehicle after lane changing; establishing a lane changing revenue function model, and judging whether the current state can cooperate with lane changing operationor not according to constraint conditions; providing a two-stage cooperative lane changing framework, dividing the lane changing process into a longitudinal distance adjusting stage and a lane changing stage, establishing a cooperative lane changing multi-objective optimization control function based on model prediction control, and solving the optimal control quantity through a rolling optimization time domain algorithm; and transmitting the optimal control quantity to cooperative vehicles, and controlling multi-vehicle cooperative lane changing operation. By establishing the cooperative lane changing multi-objective optimization control function, distributed control over the lane changing process is achieved, and the method is used for improving the road traffic capacity, the vehicle lane changing safety performance and the lane changing efficiency.
本发明提供了一种网联条件下多车协同换道方法,包括以下步骤:建立驾驶员期望跟车模型,对自车换道后的车辆状态进行预测;建立换道收益函数模型,根据约束条件判断当前状态是否能协同换道操作;提出一个两阶段协同换道框架,将换道过程分为纵向距离调整阶段和车道变更阶段,基于模型预测控制建立协同换道多目标优化控制函数,通过滚动优化时域算法求解得出最优控制量;将最优控制量传递给协同车辆,控制多车协同换道操作。本发明通过建立协同换道多目标优化控制函数,实现换道过程的分布式控制,用于提高道路通行能力、车辆换道安全性能以及换道效率。
Multi-vehicle cooperative lane changing method under network connection condition
一种网联条件下多车协同换道方法
2020-05-12
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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