The invention discloses a CACC fleet cooperative lane changing control method in a mixed traffic flow environment. The method comprises the following steps: determining an initial lane changing gap of a target lane and a target network connection automatic driving vehicle cooperatively controlled by a CACC fleet; obtaining vehicle motion state information of the CACC fleet, the target networked autonomous vehicle and a vehicle in front of the target networked autonomous vehicle; constructing a longitudinal control method, generating lane changing gaps one by one through cooperative deceleration of the vehicles, and controlling the vehicles to complete lane changing by using a transverse control algorithm; and after the lane change of the CACC motorcade is finished, the longitudinal control method is used again to control the vehicle to cruise at the expected distance. According to the method, when the vehicle gap of the target lane does not meet the lane changing condition, lane changing of the CACC motorcade is effectively achieved through cooperative control over the vehicles.
本发明公开了一种混合交通流环境下的CACC车队协同换道控制方法,步骤包括:确定目标车道的初始换道间隙和与CACC车队协同控制的目标网联自动驾驶车辆;获得CACC车队、目标网联自动驾驶车辆及其前车的车辆运动状态信息;构建纵向控制方法,通过车辆协同减速逐辆生成换道间隙,使用横向控制算法控制车辆完成换道;在CACC车队换道结束后,再次使用纵向控制方法控制车辆以期望间距巡航。本发明在目标车道车辆间隙不具备换道条件时,通过车辆间的协同控制,有效实现了CACC车队的换道。
CACC fleet cooperative lane changing control method in mixed traffic flow environment
一种混合交通流环境下的CACC车队协同换道控制方法
2025-02-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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