CN106997690B - Non-forced lane changing control method for vehicles on expressway in Internet of vehicles environment - Google Patents
Non-forced lane changing control method for vehicles on expressway in Internet of vehicles environment Download PDFInfo
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- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W2554/80—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B60W2554/804—Relative longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
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- B60W2556/65—Data transmitted between vehicles
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Abstract
The invention discloses a non-forced lane changing control method for vehicles on a highway under an Internet of vehicles environment. The non-forced lane change is a behavior that a lane change vehicle improves the running state of the vehicle, and when the running speed of a front vehicle is lower, the lane change vehicle changes to a side lane running with a better traffic state, and the method comprises the following steps: under the environment of the internet of vehicles, vehicles running on the expressway can realize vehicle-vehicle communication and real-time data exchange with surrounding vehicles in a communication range in a wireless communication mode, when a certain vehicle has an unforced lane change requirement, the vehicle sends a request to nearby vehicles to acquire the position and speed information of other vehicles, judges according to different traffic states in the communication range around the vehicle, controls the forced lane change behavior of the lane change vehicle, and realizes the safe and efficient implementation of the unforced lane change behavior. The invention analyzes the states of the lane changing vehicles and other related vehicles, and reasonably organizes the non-mandatory lane changing behavior of the vehicles based on the states, thereby realizing the safe and efficient implementation of the non-mandatory lane changing behavior.
Description
The technical field is as follows:
the invention relates to a vehicle cooperative driving control method, in particular to a non-forced lane changing control method for vehicles on a highway under an Internet of vehicles environment.
Background art:
with the rapid development of social economy, the quantity of the retained domestic automobiles in China is continuously increased, and the quantity of the retained domestic automobiles in China reaches 19440 thousands by the end of 2016, which is 12.8 percent more than that of the automobiles in 2015. However, due to the limitations of investment and space, the road mileage of four and above levels in China is only increased by 4.3%, the lane mileage of a highway is only increased by 5.4%, and the road traffic pressure is increased by far from the growth rate of civil automobiles. On the basis of not increasing the investment of road infrastructure on a large scale, along with the development of a wireless communication technology, the development of an intelligent transportation system and an automatic driving technology under the condition of the Internet of vehicles can fully utilize road resources, excavate the traffic capacity of roads and reduce the traffic pressure of the roads.
For an intelligent internet automobile, the Ministry of industry and communications divides an intelligent internet automobile technical route graph issued by the Ministry of industry and communications into four development stages, wherein the first development stage is driving assistance comprising self-adaptive navigation, automatic emergency braking, lane keeping, auxiliary parking and the like, the second development stage is partial automatic driving comprising in-lane automatic driving, lane changing assistance, full automatic parking and the like, the third development stage is conditional automatic driving comprising expressway automatic driving, suburban highway automatic driving, cooperative queue driving, intersection passing assistance and the like, and the fourth development stage is full automatic driving comprising road cooperative control, urban district automatic driving, unmanned driving and the like.
The existing research is analyzed, and most lane changing models in the car networking environment lack the differential treatment on control strategies in different development stages of automatic driving and the differential treatment on control strategies in mandatory lane changing behaviors and non-mandatory lane changing behaviors. In the third development stage of the intelligent networked automobile, the automobile can perform real-time data exchange and cooperative driving with other automobiles in a communication range, but complete automatic driving cannot be achieved. In this phase, most vehicles in the highway travel in coordination in a queue, but it is imperative that a lane change be made to enter or leave the queue. Compared with the traditional expressway lane change model and the lane change model under full automatic driving, the method and the system have the advantages that the forced lane change problem that the expressway vehicles need to change lanes as soon as possible due to special traffic conditions in the third development stage of the intelligent networked automobile is solved, the response of the lane change vehicles and surrounding vehicles in a communication range in the lane change process is determined, and the support is provided for automatic driving.
Disclosure of Invention
The invention aims to provide a non-forced lane changing control method for vehicles on a highway under an Internet of vehicles environment based on the safety of the vehicle running process, and provides support for auxiliary driving and automatic driving. The method analyzes the states of the lane changing vehicles and other related vehicles, reasonably organizes the non-mandatory lane changing behaviors of the vehicles based on the states, and realizes safe and efficient implementation of the non-mandatory lane changing behaviors.
The above purpose is realized by the following technical scheme:
a non-forced lane changing control method for vehicles on a highway under the environment of an Internet of vehicles is a behavior that a lane changing vehicle improves the running state of the vehicle and changes to a side lane with a better traffic state when the running speed of a front vehicle is lower, and the method comprises the following steps: under the environment of the internet of vehicles, vehicles running on the expressway can realize vehicle-vehicle communication and real-time data exchange with surrounding vehicles in a communication range in a wireless communication mode, when a certain vehicle has an unforced lane change requirement, the vehicle sends a request to nearby vehicles to acquire the position and speed information of other vehicles, judges according to different traffic states in the communication range around the vehicle, controls the forced lane change behavior of the lane change vehicle, and realizes the safe and efficient implementation of the unforced lane change behavior.
The data exchange content comprises vehicle position, driving speed and acceleration, the vehicle position comprises a lane where the vehicle is located and the transverse and longitudinal distances corresponding to a certain reference point along the direction of a central separation zone of the expressway, the vehicle driving on the expressway needs to strictly comply with traffic rules, and the method comprises the step of controlling the highest speed limit v of the expresswaymaxMinimum speed limit vminMaximum acceleration aaMaximum deceleration adMinimum safety interval hsafeAnd the like, and the vehicles in the fleet are equal in speed and travel cooperatively at the same speed through the vehicle networking when driving along with the fleet, and the distance between the heads of the vehicles in the fleet is not less than the safety distance.
The non-forced lane changing control method for the vehicles on the expressway under the Internet of vehicles environment judges according to different traffic states in the communication range around the vehicles, and the method for controlling the forced lane changing behavior of the lane changing vehicles comprises the following steps:
v represents the speed of the vehicle needing lane changing, and x is the longitudinal position of the vehicle; v. ofSide and backRepresenting the speed, x, of a vehicle in the target lane whose longitudinal position is ahead of and closest to the lane-change vehicleSide and backIs its longitudinal position; v. ofSide and frontRepresenting the speed, x, of a vehicle in the target lane whose longitudinal position is behind and closest to the lane-change vehicleSide and frontIs its longitudinal position; v. ofSide, endRepresenting the speed, x, of vehicles in the target lane, longitudinally behind the lane-change vehicle and at the end of the side-track fleetSide, endIs its longitudinal position; the front vehicle of the lane is defined as the vehicle which is positioned in front of the lane-changing vehicle and is closest to the lane-changing vehicle in the longitudinal position on the lane, and v is in the initial stateSide and front＝vSide and back＝vSide, end，
If no other vehicles exist on the side road, immediately executing lane change;
if the side road has a front vehicle but no rear vehicle, judging the states of the front vehicle and the side road:
① the front speed is greater than or equal to the speed of the lane-change vehicle and the safe spacing condition has been met, i.e., vSide and frontX is not less than vSide and front-x≥hsafeIf so, immediately executing lane change;
② preceding vehicle speed greater than or equal to the speed of the lane-change vehicle but not meeting the safe spacing condition, i.e. vSide and frontX is not less than vSide and front-x<hsafeThen the lane-change vehicle is decelerated at the maximum deceleration afThe speed reduction is carried out, and the speed reduction of the lane-changing vehicle is stopped when one of the following conditions is reached:
c) the lane changing vehicle reaches the lowest speed limit v of the expresswaymin；
d) The safety distance between the front vehicle and the side road is reached,
if condition b) is satisfied first, then x is satisfied when the condition is satisfiedSide and front′-x′＝hsafeWhen the lane changing vehicle stops decelerating and executes lane changing;
if the condition a) is satisfied first, the lane-change vehicle stops decelerating and maintains vminPerforming a swap until condition b) is satisfiedAnd (4) carrying out the following steps. After the lane changing behavior is finished, the lane changing vehicle is accelerated at the maximum acceleration aaAccelerating to a side-track front speed vSide and front，
③ the speed of the vehicle ahead is less than the speed of the vehicle changing the track, i.e. vSide and front<v, then the lane-changing vehicle uses the maximum deceleration adIs decelerated to vSide and frontAnd after the speeds of the two vehicles are equal, judging that the front vehicle and the rear vehicle are in the initial state, judging the lane changing condition again and executing control according to a corresponding method.
If there is no front car on the side road and there is a rear car, if the rear car speed is less than or equal to the speed of changing the road and the safety distance condition is satisfied, i.e. vSide and backV and x-x are not more thanSide and back≥hsafeIf so, the lane change vehicle immediately executes lane change; otherwise, the lane changing vehicle needs to continue to drive the vehicle ahead on the lane changing lane in principle, and lane changing can be considered after the vehicle team on the side lane completely exceeds the vehicle; firstly, the speed v of the lane-changing vehicle and the front vehicle v on the lane-changing laneBook, frontAnd side road fleet velocity vSide wallMaking a decision that v is due to an unforced lane change for improving the driving state of the vehicleSide wallMust be greater than vBook, frontAnd v must not be less than vBook, front，
If the lane-changing vehicle is normally following the preceding vehicle, i.e. vBook, front＝v<vSide wallWhen the end vehicle of the bypath fleet drives to a position outside the safety distance in front of the lane-changing vehicle, namely xSide, end′-x′＝hsafeIn time, the lane changing vehicle executes lane changing, and after the lane changing behavior is executed, the lane changing vehicle executes the lane changing at the maximum acceleration aaAccelerate to vSide wall；
If the speed of the lane-changing vehicle is greater than the speed of the vehicle ahead of the lane but less than the speed of the bypath fleet, i.e. vBook, front<v<vSide wallWhen the lane changing vehicle needs to keep a safe distance from the front vehicle and the end vehicle of the side road fleet, namely x, the lane changing vehicle changes the lane when the end vehicle of the side road fleet drives out of the safe distance from the front vehicle of the lane changing vehicleSide, end′-x′＝hsafeAnd xFront side′-x′≥hsafe；
① if the lane change vehicle can continue to maintain speed v, then to change lane after time t, a solution to the following set of inequalities is required:
when the inequality group has solutions, the lane-changing vehicle is
If not, the lane changing vehicle can safely change lanes by needing to decelerate, and the lane changing vehicle continues to execute ②;
② if the inequality in ① is not solved, then the lane-change vehicle will need to be changed at maximum deceleration adDecelerating until one of the following two conditions is met:
c) the end car of the bypath fleet runs out of the safe distance in front of the lane-changing car, namely xSide, end′-x′＝hsafe；
d) The speed being equal to the speed of the vehicle ahead of the own road, i.e. v ═ vBook, front。
If the condition a) is met first, stopping decelerating and executing lane changing when the condition is met; if the condition b) is satisfied first, the lane-changing vehicle stops decelerating and keeps v when the condition is satisfiedBook, frontAnd changing the channel until the condition a) is met. After the lane change is finished, the lane change vehicle is accelerated at the maximum acceleration aaAccelerate to vSide, end；
If the speed of the lane-changing vehicle is greater than the speed of the bypath fleet, i.e., vBook, front<vSide wallV is less than or equal to v, the lane-changing vehicle needs to be firstly decelerated by the maximum deceleration adDecelerating to a speed less than the bypass fleet speed, i.e. v'<vSide wallThe method can ensure that the bypath motorcade exceeds the lane-changing vehicle, and the deceleration is stopped when one of the following conditions is met:
c) the end car of the bypath fleet runs out of the safe distance in front of the lane-changing car, namely xSide, end′-x′＝hsafe；
d) The speed being equal to the speed of the vehicle ahead of the own road, i.e. v ═ vBook, front。
If the condition a) is satisfied first, the lane-change vehicle stops decreasing when the condition is satisfiedFast and execute lane change; if condition b) is satisfied first, the lane change vehicle remains vBook, frontAnd executing lane change until the condition a) is met. After the lane change is finished, the lane change vehicle is accelerated at the maximum acceleration aaAccelerate to vSide, end。
Has the advantages that:
compared with the prior art, the invention is characterized in that:
the method is particularly suitable for the development process of the Internet of vehicles, aiming at the third stage of the development of the intelligent Internet of vehicles, namely the situation that most vehicles on the expressway travel cooperatively in a queue mode under the conditional automatic driving condition;
the invention aims at the problem that vehicles must change lanes as soon as possible due to special traffic conditions, so that the influence on other vehicles can be reduced to the maximum extent in the lane changing process of the vehicles, the lane changing is realized as fast as possible on the basis, and the rapidness and the safety of the lane changing are ensured.
Drawings
FIG. 1 is a control flow diagram;
FIG. 2 is an initial state of a typical two-lane highway embodiment;
fig. 3 is a schematic diagram of an embodiment of a two-lane highway. FIG. 3- (a) is a diagram of an embodiment without a front vehicle and without a rear vehicle; FIG. 3- (b) is a diagram of an embodiment with a front vehicle but without a rear vehicle; FIG. 3- (c) is a diagram of an embodiment without a front vehicle but with a rear vehicle and with a lane change vehicle changing to the front of a bypath fleet; FIG. 3- (d) is a diagram of an embodiment without a front vehicle but with a rear vehicle and with lane change vehicles being changed to behind a bypath fleet; fig. 3- (e) is a view of an embodiment with a front vehicle and a rear vehicle.
Detailed Description
The present invention will be further illustrated below with reference to specific embodiments, which are to be understood as merely illustrative and not limitative of the scope of the present invention.
Example 1:
the present embodiment is based on the following assumptions:
(1) in the embodiment, under the environment of highway vehicle networking of vehicle-to-vehicle interconnection, all vehicles are connected by a special short-range communication (DSRC is not taken as an example) technology, the communication range is 300 meters, and vehicle state information can be mutually exchanged in real time;
(2) the speed of information transmission and processing is fast enough, which can be regarded as instant completion, and the data packet loss, transmission and processing delay can be ignored in the process;
(3) the vehicle can carry out accurate acceleration and deceleration operation according to a control strategy and strictly abide by the safe distance condition;
(4) the time required by the lane changing process of the vehicle is not negligible, but the longitudinal component speed of the vehicle is approximately equal to the speed of the vehicle;
(5) most vehicles traveling on a highway travel in a queue with a longitudinal distance between the vehicles not less than a safe distance.
FIG. 1 is a flow chart of vehicle lane change organization control in a vehicle-to-vehicle networking environment. Example scenario of a two-lane highway scenario is shown in fig. 2, where vehicle 1 is a vehicle requiring a lane change, and there may be a front vehicle queue ( vehicles 2 and 3 in the figure) traveling slowly, a vehicle queue on the lane to be changed (vehicles 4, 5, 6, 7 in the figure, and 7 is the last vehicle on the side-track fleet). At a speed v of the vehicle 11Running, front vehicle queue at speed v2Driving, vehicle formation on adjacent lanes by v3And (5) running. These vehicles comply with a maximum acceleration aaAnd maximum deceleration ad. The longitudinal distance of the ith vehicle relative to a certain reference point of the road is xi。
1) The vehicles 1-7 can perform real-time data exchange without obstacles, and the data exchange content comprises information of vehicle position, driving speed, acceleration, vehicle driving behaviors (such as lane change and following) and the like. The vehicle position comprises a lane where the vehicle is located and the transverse and longitudinal distances of a certain reference point along the direction of the central separation zone of the expressway. These vehicles strictly comply with certain traffic regulations, e.g. the highest speed limit v of a highwaymaxMinimum speed limit vminMaximum acceleration aaMaximum deceleration adMinimum safety interval hsafeAnd the vehicles 2-3 and 4-7 run in a fleet form, wherein the speeds of the vehicles are equal andthe vehicles travel cooperatively at the same speed through the vehicle-to-vehicle network, and the distance between the vehicle heads is not less than the safety distance.
2) When the vehicle 1 has an unforced lane change demand, the vehicle 1 sends a request to a nearby vehicle to acquire information such as the position and speed of other vehicles. The non-forced lane change is a behavior in which the vehicle 1 is intended to improve the vehicle running state, and when the running speed of the preceding vehicle is low, the lane change is made to a side lane running with a good traffic state, that is, v2≤v1And v is3>v2。
3) Judging according to different traffic states in the vehicle communication range, if no vehicle exists on the side road, namely, no vehicles 4-7 exist in the range of 300 meters in front and at the back, as shown in fig. 3(a), directly changing the road; if the side road has a front vehicle and no rear vehicle, namely, only vehicles 4 and 5 but no vehicles 6 and 7 are in the range of 300 meters in front and rear, the step 3-1) is carried out; if the side road has no front vehicle and has a rear vehicle, namely, only vehicles 6 and 7 but no vehicles 4 and 5 exist within the range of 300 meters in front and rear, the step 3-2) is carried out; and if the front vehicle and the rear vehicle exist on the side road, namely the vehicles 4-7 exist in the range of 300 meters in front and rear, the step 3-3) is carried out. The vehicle 5 is a vehicle which is located in front of the vehicle 1 on the side road in the longitudinal direction and is closest to the vehicle 1, namely a vehicle in front of the side road; the vehicle 6 is a vehicle which is arranged behind the vehicle 1 on the side road in the longitudinal direction and is closest to the vehicle 1, namely a vehicle behind the side road; the vehicle 7 is a vehicle which is located at the end of the fleet of vehicles on the side road and is longitudinally behind the vehicle 1, namely the end of the side road.
3-1) as in fig. 3(b), only the vehicles 4, 5 but not the vehicles 6, 7, the states of the vehicles 1 and 5 are determined:
① if v3≥v1And x5-x1≥hsafeIf so, immediately executing lane change;
② if v3≥v1And x5-x1<hsafeThe vehicle 1 is then decelerated at maximum deceleration adDeceleration is performed and the vehicle 1 stops accelerating when one of the following conditions is reached:
a) vehicle 1 reaching the lowest speed limit v of the highwaymin；
b) The vehicle 1 reaches a safe distance from the vehicle 5.
If condition b) is satisfied first, i.e. at x5′-x1′＝hsafeWhen the vehicle 1 stops decelerating and performs lane change; if the condition a) is satisfied first, the vehicle 1 keeps vminAnd executing lane change until the condition b) is met. After the lane-changing behavior is executed, the vehicle 1 is accelerated at the maximum acceleration aaAccelerate to v3。
③ if v3<v1The vehicle 1 is then decelerated at maximum deceleration adIs decelerated to v3. In decelerating the vehicle 1 to v3Thereafter, step 3-1) is re-executed.
3-2) as in FIG. 3(c), i.e. only vehicles 6, 7 and no vehicles 4, 5, then if v is3≤v1And x1-x6≥hsafeThe vehicle 1 immediately performs lane change; otherwise, go to step 3-3).
3-3) in this step, the vehicle 1 in principle needs to continue to follow the vehicle 3, waiting for the vehicle 7 to pass behind itself, allowing for a lane change, as shown in fig. 3(d) or fig. 3 (e). First of all for the speed v of the vehicle 11Speed v of vehicle 22And the speed v of the vehicle 4-73And (6) judging. V is due to an unforced lane change for improving the driving state of the vehicle3Must be greater than v2And v is1Must not be less than v2. If v is2＝v1<v3Then, turning to the step 3-4); if v is2<v1<v3Then, turning to the step 3-5); if v is2<v3≤v1And then the step 3-6) is carried out.
3-4) in this step, the vehicle 1 normally follows the vehicle 3. When the vehicle 7 travels outside a safe distance in front of the vehicle 1, i.e. x7′-x1′＝hsafeWhen the lane change is performed, the vehicle 1 can perform the lane change and performs the lane change operation at the maximum acceleration aaAccelerate to v3。
3-5) in this step, the vehicle 1 speed is greater than the vehicle 3 speed but less than the vehicle 7 speed. At this time, the lane change is performed when the vehicle 7 travels out of the safe distance ahead of the vehicle 1. Before changing lanes, the vehicle 1 needs to maintain a safe distance, x, from both the vehicle 3 and the vehicle 77′-x1′＝hsafeAnd x3′-x1′≥hsafe。
① if the vehicle 1 can continue to maintain speed v, to change lanes after time t, a solution to the following set of inequalities is required:
when the above inequality groups are solved, the vehicle 1 is in
If not, the lane change can be safely carried out by the vehicle 1 needing to decelerate, and the step ② is carried out;
② if the inequality in ① is not solved, then the vehicle 1 is required to have the maximum deceleration adDecelerating until one of the following two conditions is met:
a) the vehicle 7 travels outside a safe distance in front of the vehicle 1, x7′-x1′＝hsafe；
b) Speed equal to vehicle 2 speed, i.e. v1′＝v2。
If the condition a) is satisfied first, the vehicle 1 stops decelerating and performs lane change when the condition is satisfied; if the condition b) is satisfied first, the vehicle 1 stops decelerating and v is maintained2And executing lane change until the condition a) is met. After the lane change is completed, the vehicle 1 is accelerated at the maximum acceleration aaAccelerate to v3。
3-6) in this step, the vehicle 1 speed is greater than the vehicle 7 speed. The vehicle 1 needs to be decelerated a at the maximum deceleration a firstdDecelerating to a speed less than the speed of the vehicle 7, i.e. v1′<v3It is ensured that the vehicle 7 overtakes the vehicle 1. The deceleration is stopped when one of the following conditions is satisfied for the vehicle 1:
a) the vehicle 7 travels outside a safe distance in front of the vehicle 1, x7′-x1′＝hsafe；
b) The vehicle 1 decelerates to the vehicle 3 speed, v1′＝v2。
If the condition a) is satisfied first, the vehicle 1 stops when the condition is satisfiedDecelerating and executing lane change; if the condition b) is satisfied first, the vehicle 1 stops decelerating and v is maintained2And executing lane change until the condition a) is met. After the lane change is completed, the vehicle 1 is accelerated at the maximum acceleration aaAccelerate to v3。
It should be noted that the above embodiments are only examples for clarity of illustration, and are not limiting, and all embodiments need not be exhaustive. All the components not specified in the present embodiment can be realized by the prior art. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (1)
1. A non-forced lane changing control method for vehicles on a highway under an Internet of vehicles environment is characterized in that the non-forced lane changing is a behavior that a lane changing vehicle improves a vehicle running state and changes to a side lane running with a better traffic state when a front vehicle runs at a lower speed, and the method comprises the following steps: under the environment of Internet of vehicles, vehicles running on a highway can realize vehicle-to-vehicle communication and real-time data exchange with surrounding vehicles in a communication range in a wireless communication mode, when a certain vehicle has an unforced lane change requirement, the vehicle sends a request to nearby vehicles to acquire the position and speed information of other vehicles, judges according to different traffic states in the communication range around the vehicle and controls the unforced lane change behavior of the lane change vehicle;
the data exchange content comprises vehicle position, driving speed and acceleration, the vehicle position comprises a lane where the vehicle is located and transverse and longitudinal distances corresponding to a certain reference point along the direction of a central separation zone of the expressway, and the vehicles driving on the expressway need to strictly obey traffic rules, including the highest speed limit v of the expresswaymaxMinimum speed limit vminMaximum acceleration aaMaximum deceleration adMinimum safety interval hsafeAnd the vehicles in the fleet are equal in speed and coordinated at the same speed through the vehicle networking when driving along with the fleetThe vehicles in the queue travel at the same time, and the distance between the heads of the vehicles in the queue is not smaller than the safety distance;
the method for judging according to different traffic states in the communication range around the vehicle and controlling the non-mandatory lane changing behavior of the lane changing vehicle comprises the following steps:
v represents the speed of the vehicle needing lane changing, and x is the longitudinal position of the vehicle; v. ofSide and backRepresenting the speed, x, of a vehicle in the target lane whose longitudinal position is behind and closest to the lane-change vehicleSide and backIs its longitudinal position; v. ofSide and frontRepresenting the speed, x, of a vehicle in the target lane whose longitudinal position is ahead of and closest to the lane-change vehicleSide and frontIs its longitudinal position; v. ofSide, endRepresenting the speed, x, of vehicles in the target lane, longitudinally behind the lane-change vehicle and at the end of the side-track fleetSide, endIs its longitudinal position; the front vehicle of the lane is defined as the vehicle which is positioned in front of the lane-changing vehicle and is closest to the lane-changing vehicle in the longitudinal position on the lane, and v is in the initial stateSide and front＝vSide and back＝vSide, end，
If no other vehicles exist on the side road, immediately executing lane change;
if the side road has a front vehicle but no rear vehicle, judging the states of the front vehicle and the side road:
① the front speed is greater than or equal to the speed of the lane-change vehicle and the safe spacing condition has been met, i.e., vSide and frontX is not less than vSide and front-x≥hsafeIf so, immediately executing lane change;
② preceding vehicle speed greater than or equal to the speed of the lane-change vehicle but not meeting the safe spacing condition, i.e. vSide and frontX is not less than vSide and front-x＜hsafeThen the lane-change vehicle is decelerated at the maximum deceleration adThe speed reduction is carried out, and the speed reduction of the lane-changing vehicle is stopped when one of the following conditions is reached:
a) the lane changing vehicle reaches the lowest speed limit v of the expresswaymin；
b) The safety distance between the front vehicle and the side road is reached,
if condition b) is satisfied first, then x is satisfied when the condition is satisfiedSide and front′-x′＝hsafeWhen the lane changing vehicle stops decelerating and executes lane changing;
if the condition a) is satisfied first, the lane-change vehicle stops decelerating and maintains vminExecuting lane changing until the condition b) is met, and after the lane changing action is executed, the lane changing vehicle uses the maximum acceleration a againaAccelerating to a side-track front speed vSide and front，
③ the speed of the vehicle ahead is less than the speed of the vehicle changing the track, i.e. vSide and frontIf v, the lane-changing vehicle uses the maximum deceleration adIs decelerated to vSide and frontJudging the lane changing condition again and executing control according to the corresponding method after the speeds of the two vehicles are equal;
if the front vehicle and the rear vehicle are on the side road, the vehicles need to continuously follow the front vehicle on the side road, and the vehicle can be considered to change the road after waiting for the vehicle team on the side road to completely exceed the rear of the vehicle;
if there is no front car on the side road and there is a rear car, if the rear car speed is less than or equal to the speed of changing the road and the safety distance condition is satisfied, i.e. vSide and backV and x-x are not more thanSide and back≥hsafeIf so, the lane change vehicle immediately executes lane change; otherwise, the lane changing vehicle needs to continue to drive the vehicle ahead on the lane changing lane in principle, and lane changing can be considered after the vehicle team on the side lane completely exceeds the vehicle; firstly, the speed v of the lane-changing vehicle and the front vehicle v on the lane-changing laneBook, frontAnd side road fleet velocity vSide wallMaking a decision that v is due to an unforced lane change for improving the driving state of the vehicleSide wallMust be greater than vBook, frontAnd v must not be less than vBook, front，
If the lane-changing vehicle is normally following the preceding vehicle, i.e. vBook, front＝v＜vSide wallWhen the end vehicle of the bypath fleet drives to a position outside the safety distance in front of the lane-changing vehicle, namely xSide, end′-x′＝hsafeIn time, the lane changing vehicle executes lane changing, and after the lane changing behavior is executed, the lane changing vehicle executes the lane changing at the maximum acceleration aaAccelerate to vSide wall；
If the speed of the lane-changing vehicle is greater than the speed of the vehicle ahead of the lane but less than the speed of the bypath fleet, i.e. vBook, front＜v＜vSide wallThen in the side road fleetWhen the vehicle changes lane, the lane changing vehicle needs to keep a safe distance with the last vehicle of the front vehicle and the side-lane fleet, namely xSide, end′-x′＝hsafeAnd xFront side′-x′≥hsafe；
① if the lane change vehicle can continue to maintain speed v, then to change lane after time t, a solution to the following set of inequalities is required:
when the inequality group has solutions, the lane-changing vehicle is
If not, the lane changing vehicle can safely change lanes by needing to decelerate, and the lane changing vehicle continues to execute ②;
② if the inequality in ① is not solved, then the lane-change vehicle will need to be changed at maximum deceleration adDecelerating until one of the following two conditions is met:
a) the end car of the bypath fleet runs out of the safe distance in front of the lane-changing car, namely xSide, end′-x′＝hsafe；
b) The speed being equal to the speed of the vehicle ahead of the own road, i.e. v ═ vBook, front。；
If the condition a) is met first, stopping decelerating and executing lane changing when the condition is met; if the condition b) is satisfied first, the lane-changing vehicle stops decelerating and keeps v when the condition is satisfiedBook, frontChanging the lane until the condition a) is met, and after the lane changing is finished, changing the lane with the maximum acceleration aaAccelerate to vSide, end；
If the speed of the lane-changing vehicle is greater than the speed of the bypath fleet, i.e., vBook, front＜vSide wallV is less than or equal to v, the lane-changing vehicle needs to be firstly decelerated by the maximum deceleration adDecelerating to a speed less than the speed of the bypath fleet, i.e. v' < vSide wallThe method can ensure that the bypath motorcade exceeds the lane-changing vehicle, and the deceleration is stopped when one of the following conditions is met:
a) the end car of the bypath fleet runs out of the safe distance in front of the lane-changing car, namely xSide, end′-x′＝hsafe；
b) The speed being equal to the speed of the vehicle ahead of the own road, i.e. v ═ vBook, front。；
If the condition a) is met first, stopping decelerating and executing lane changing when the condition is met; if condition b) is satisfied first, the lane change vehicle remains vBook, frontExecuting lane change until the condition a) is met, and after the lane change is finished, enabling the lane change vehicle to have the maximum acceleration aaAccelerate to vSide, end。
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