The invention discloses an intelligent networked vehicle following optimization and cooperative lane changing method for improving a safety potential field, and the method comprises the steps: enabling a vehicle to obtain the information of a target lane and the information of a current lane, and achieving the safety following control of a traffic flow; the vehicle generates a lane changing intention at first, the vehicle calculates and identifies all possible lane changing gaps and safety gaps needed for evaluating lane changing and judges whether the safe lane changing gaps exist or not, if yes, the optimal lane changing gap is selected from the safety gaps, and the vehicle starts to execute lane changing operation; if not, calculating the number of previous lane changing cooperative vehicles of the selectable lane changing gap, selecting the lane changing gap needing the minimum number m of cooperative acceleration vehicles, and establishing an m threshold condition based on the actual situation of the traffic flow; the invention emphasizes safety and cooperation, provides a new improved safety potential field lane changing model based on a traditional safety potential field theory, improves a traditional lane changing control mode, and further realizes safe and efficient car following and lane changing.
本发明公开了一种改进安全势场的智能网联汽车跟驰优化与协同换道方法,包括:车辆获取目标车道信息和本车道信息,实现车流安全跟驰控制;车辆首先产生换道的意图,车辆计算并识别所有可能的换道间隙与评估换道所需的安全间隙并判断是否存在安全的换道间隙,若存在,则在安全间隙中选择最优的换道间隙,车辆开始执行换道操作;若不存在,则计算可选换道间隙的前置换道协同车辆数量,选择需要最少协同加速车辆数m的换道间隙,建立基于交通流实际情况的m阀值条件;本发明强调安全和协同,基于传统安全势场理论,提出了一种新的改进安全势场换道模型,改进了传统换道控制方式,进一步实现安全、高效的跟驰与车道变换。
Intelligent networked automobile following optimization and collaborative lane changing method for improving safety potential field
一种改进安全势场的智能网联汽车跟驰优化与协同换道方法
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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