In order to improve the road traveling efficiency and vehicle driving safety, a lane selection artificial potential field method is proposed based on the dynamic topology of the vehicle cluster model with Internet of Vehicles. The real-time decisions of lane changing for collision avoidance are made by the reformed lane repulsion of artificial potential field. Then, a lane-changing trajectory is planned using 2-segment 3-order Bezier curves. Meanwhile the safety control points of the main lane and the safe distances of the target lane are proposed as the safe constraints for lane-changing process. Finally, based on the MATLAB platform, the simulation is performed for validation under the typical conditions of different obstacles under the high-speed background. The results show that the lane selection artificial potential field method can make the real-time lane-changing decision effectively, and the lane-changing trajectory planning under the set safe constraints can effectively avoid the occurrence of vehicle collision accidents.
Research on vehicle lane-changing obstacle avoidance for Internet of Vehicles
International Conference on Cryptography, Network Security, and Communication Technology (CNSCT 2023) ; 2023 ; Changsha, China
Proc. SPIE ; 12641
2023-05-12
Conference paper
Electronic Resource
English
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