The invention relates to a multi-vehicle cooperative lane changing control system and method based on vehicle-vehicle communication. The multi-vehicle cooperative lane changing control system comprises a sensing unit, a communication unit, a decision-making unit, a control unit and a prompting unit. According to the method, a multi-vehicle cooperative lane changing control method of an upper decision-making layer in a set scene is mainly designed, all vehicles in the set scene share driving information through vehicle-vehicle communication, feasibility judgment is carried out according to theinformation after a lane changing vehicle sends out a request, and expected control input, namely longitudinal expected acceleration, of the three cooperative vehicles is determined by solving a quadratic programming problem designed by the invention after the judgment is feasible, and the expected control input is shared to the cooperative vehicles. The control unit of each vehicle is assumed toachieve accurate longitudinal and transverse vehicle control according to the required control input, control is not designed in detail, a vehicle-vehicle communication technology is fully utilized, and safety and comfort during vehicle lane changing are improved.
本发明涉及一种基于车车通信的多车协同换道控制系统及方法,多车协同换道控制系统包括感知单元、通信单元、决策单元、控制单元和提示单元。本方法主要设计上层决策层在设定场景下的多车协同换道控制方法,在该方法中,设定场景内的所有车辆通过车车通信共享行驶信息,换道车辆在发出请求后根据所述信息进行可行性判断,判断可行后通过求解本发明设计的一个二次规划问题确定三辆协同车辆的期望控制输入即纵向期望加速度,并共享给协同车辆。本发明假设每辆车的控制单元能够根据所需的控制输入实现精确的纵向和横向车辆控制,不详细设计控制的实现,充分利用了车车通信技术,改善了车辆换道时的安全性与舒适性。
Multi-vehicle cooperative lane changing control system and method based on vehicle-vehicle communication
一种基于车车通信的多车协同换道控制系统及方法
2020-12-04
Patent
Electronic Resource
Chinese
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