CN110390839A - Consider the vehicle lane-changing method of more vehicle interaction area overlapping areas - Google Patents
Consider the vehicle lane-changing method of more vehicle interaction area overlapping areas Download PDFInfo
- Publication number
- CN110390839A CN110390839A CN201910668661.4A CN201910668661A CN110390839A CN 110390839 A CN110390839 A CN 110390839A CN 201910668661 A CN201910668661 A CN 201910668661A CN 110390839 A CN110390839 A CN 110390839A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- change
- interaction
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
Consider the vehicle lane-changing method of more vehicle interaction area overlapping areas, the present invention relates to vehicle lane-changing methods.The present invention is directed to more vehicle interaction operation rule problems during vehicle lane-changing.Process are as follows: set i vehicle as target vehicle, i-1 vehicle is the front truck of target vehicle current lane, i+1 vehicle is the rear car of target vehicle current lane, and j-1 vehicle is the front truck on the left of target vehicle direction of advance on target lane, and j vehicle is the rear car on the left of target vehicle direction of advance on target lane；Definition traveling constraint and Duo Che interaction area；Nominal shape parameter；Determine the overlapping area of target vehicle Yu surrounding vehicles interaction area；It when more vehicle interaction areas do not overlap, is not interacted between vehicle, vehicle lane-changing form is free lane-change；It when more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is interaction lane-change.The present invention is used for field of road traffic safety.
Description
Technical field
The invention belongs to traffic safety active prevention and control and technical field of traffic simulation, and in particular to vehicle lane-changing side
Method.
Background technique
In recent years, China resident car ownership persistently rises, and road traffic accident takes place frequently, and wherein vehicle lane-changing causes
Road traffic accident number proportion is higher, and according to statistics, the road traffic accident number that vehicle lane-changing causes accounts for about total number of accident
27%.During vehicle lane-changing, the reciprocation between lane-change vehicle and surrounding vehicles is larger to the stability influence of traffic flow.
Patent CN109035862A discloses a kind of more vehicles collaboration lane-change control method based on truck traffic, which relies on
Information transmitting between vehicle realizes safety during lane-change based on the Safety distance model under through vehicles Variable Velocity Condition
The real-time judge of distance and track adjustment.
Patent CN106740457A discloses the vehicle lane-changing decision-making technique based on BP neural network model, utilizes BP nerve
Network Prediction Model provides the decision and guidance when vehicle lane-changing to driver, and sounds an alarm when predicting that lane-change danger occurs
It reminds.
Bicycle lane-change research at present has certain achievement, but for the real-time dynamic between more vehicles during vehicle lane-changing
Rules of interaction research still needs to further deeply.If can be more during analysis lane-changing intention and lane-change by studying vehicle lane-changing
Vehicle rules of interaction, it will help optimization traffic control measure improves road overall operation efficiency and driving safety, while to road
Road traffic safety active Control Technology, auxiliary driving technology etc. can also have certain theory and realistic meaning.
Summary of the invention
The present invention is directed to more vehicle interaction operation rule problems during vehicle lane-changing, proposes and considers more vehicle interaction area weights
The vehicle lane-changing method of folded area.
Consider the vehicle lane-changing method detailed process of more vehicle interaction area overlapping areas are as follows:
Step 1: setting i vehicle as target vehicle, and i-1 vehicle is the front truck of target vehicle current lane, and i+1 vehicle is target vehicle
The rear car of current lane, j-1 vehicle are the front truck on the left of target vehicle direction of advance on target lane, and j vehicle is target vehicle advance
Rear car on the left of direction on target lane；
Step 2: defining traveling constraint and the Duo Che interaction area of vehicle driving, and more vehicles are more than or equal to 2
Vehicle；
Step 3: the form parameter a of vehicle driving constraint is demarcated respectively1、b1With the form parameter of more vehicle interaction areas
a2、b2；
Step 4: the overlapping area of target vehicle i Yu surrounding vehicles interaction area are determined using Matlab software；
Step 5: when more vehicle interaction areas do not overlap, not interacting between vehicle, and vehicle lane-changing form is freely
Lane-change, the spacing of i vehicle and j vehicle is greater than safe spacing at this time, and i vehicle carries out lane lane-change to the left, j vehicle with constant lateral velocity
Continue to travel with train tracing model before；
It when more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is interaction lane-change, and i vehicle is first
It first opens left steering lamp and issues lane-change request to j vehicle, and to left-lane doubling；
When j vehicle slows down evacuation agreement i vehicle lane-change request, i vehicle is incorporated to target lane；
When the refusal lane-change request of j vehicle, i vehicle be will continue to before being not yet decreased to safe spacing with the spacing of j vehicle to mesh
Mark lane is close and sounds out the reaction of j vehicle, allows i vehicle lane-change until j vehicle slows down, but when the spacing of i vehicle and j vehicle is less than or equal to peace
When full spacing, i vehicle abandons lane-change.
The invention has the benefit that
The present invention can be driver in lane-change decision by studying the vehicle lane-changing process under more vehicle interaction moving laws
And guidance instruction is provided during lane-change, the event that collides during lane-change is avoided, the safety and friendship of driving can be improved
Through-flow overall operation efficiency.Simultaneously to traffic safety active Control Technology, traffic simulation, automatic Pilot technology and intelligence
Theoretical further the improving of vehicle also has reference.
Detailed description of the invention
Fig. 1 is that the constraint of vehicle driving and more vehicle interaction areas divide schematic diagram；
Fig. 2 a is vehicle driving constraint form parameter value schematic diagram；
Fig. 2 b is more vehicle interaction area form parameter value schematic diagrames；
Fig. 3 is lane-change vehicle i to target lane schematic diagram；
Fig. 4 is the interaction diagrams of i vehicle and j vehicle；
Fig. 5 is vehicle lane-changing track scatterplot fitted figure.
Specific embodiment
Specific embodiment 1: present embodiment considers the specific mistake of vehicle lane-changing method of more vehicle interaction area overlapping areas
Journey are as follows:
Step 1: setting i vehicle as target vehicle, and i-1 vehicle is the front truck of target vehicle current lane, and i+1 vehicle is target vehicle
The rear car of current lane, j-1 vehicle are the front truck on the left of target vehicle direction of advance on target lane, and j vehicle is target vehicle advance
Rear car on the left of direction on target lane；
Step 2: defining traveling constraint and the Duo Che interaction area of vehicle driving, and more vehicles are more than or equal to 2
Vehicle；
Step 3: the form parameter a of vehicle driving constraint is demarcated respectively1、b1With the form parameter of more vehicle interaction areas
a2、b2；
Step 4: the overlapping area of target vehicle i Yu surrounding vehicles interaction area are determined using Matlab software；
Step 5: when vehicle spacing is sufficiently large, and more vehicle interaction areas do not overlap, not interacting between vehicle,
Vehicle lane-changing form is free lane-change, and the spacing of i vehicle and j vehicle is greater than the safe spacing (d in formula 3 at this timesafe), i Che Yiheng
Fixed lateral velocity carries out lane lane-change, j vehicle to the left and continues to travel with train tracing model before；
It when vehicle spacing is smaller, and more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is
Interaction lane-change, i vehicle are first turned on left steering lamp and issue lane-change request to j vehicle, and to left-lane (target lane) doubling, target carriage
I vehicle and surrounding vehicles interaction area overlapping area increase, and reciprocation enhancing, i vehicle sounds out the reaction of j vehicle；
When j vehicle slows down evacuation agreement i vehicle lane-change request, i vehicle is incorporated to target lane (lane where j vehicle), the friendship of two vehicles
Mutually overlapping region area reduces, and reciprocation weakens；
When the refusal lane-change request of j vehicle (j vehicle do not slow down evacuation), i vehicle is not yet decreased to safe spacing in the spacing with j vehicle
Before, it will continue to reaction that is close to target lane and souning out j vehicle, allow i vehicle lane-change until j vehicle slows down, but when i vehicle and j vehicle
Spacing be less than or equal to safe spacing when, due to safety concerns, i vehicle abandons lane-change.
Specific embodiment 2: the present embodiment is different from the first embodiment in that, vehicle is defined in the step 2
Traveling traveling constraint and Duo Che interaction area, more vehicles be more than or equal to 2 vehicles, detailed process are as follows:
As shown in Figure 1, the geometric center of target vehicle is that coordinate is former using the front truck of target vehicle current lane as referential
Point, vehicle forward direction are positive direction of the x-axis, are y perpendicular to the direction on the left of vehicle forward direction and direction vehicle forward direction
Axis positive direction establishes two-dimensional surface rectangular coordinate system；
The traveling constraint of vehicle and Duo Che interaction area the ellipse closed curve as shown in (1) in Fig. 1 and (2) respectively
(dotted portion) composition.
Travel constraint:
More vehicle interaction areas:
Wherein, a1、b1For the form parameter for travelling constraint；a2、b2For the form parameter of more vehicle interaction areas.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that, divide in the step 3
Not Biao Ding vehicle driving constraint form parameter a1、b1With the form parameter a of more vehicle interaction areas2、b2, detailed process are as follows:
Travelling constraint in vehicle travel process and strictly avoiding overlapping is the primary condition that more vehicles do not collide, in this way
It can guarantee that vehicle spacing is unlikely to too small, reciprocal effect and game be generated by the overlapping of interaction area between more vehicles, in turn
Influence respective speed and Driving Decision-making.The form parameter of constraint and interaction area directly affects the interaction journey between more vehicles
Degree carries out value to four form parameters below with reference to Fig. 2:
Travel the form parameter a of constraint1、b1Value:
As shown in Figure 2 a, a1Size depend on longitudinal minimum safe distance of vehicle, value was referred to the facing of sailing of speeding on
(when the constraint boundary of front and back vehicle is tangent, vehicle spacing reaches critical gap d to boundary's safe spacingmin), then 2a1=2dmin, therefore
a1Equal to dmin, dminFor vehicle spacing of the constraint boundary of front and back vehicle when tangent；
b1Size depend on vehicle safe driving when lateral minimum safe distance, constraint be vehicle safety run
Vehicle is regarded as the inscribed rectangle in ellipse restriction region by the headroom of required occupancy, i.e., rectangle is inscribed using traveling constraint
Area formula S=2a1b1Find out b1；
The form parameter a of more vehicle interaction areas2、b2Value: as shown in Figure 2 b, a2Value with reference to occur with speed on for
Minimum time headway (when front and back vehicle constraint boundary is tangent, time headway be occur with speed on for critical value), traffic flow
Average speed isCritical time headway is tmin(when front and back vehicle constraint boundary is tangent, when the front truck tailstock is with rear car front
Away from), critical space headway isThen
b2Value enable that adjacent lane interaction area is overlapped and the vehicle in non-conterminous lane is not overlapped strictly, it is non-adjacent
The vehicle in lane does not generate reciprocation, and (the vehicle interaction area in 1 lane and 3 lanes is tangent, i.e. 2b2=2dL), therefore b2It is equal to
dL, dLFor the width in lane.
Other steps and parameter are the same as one or two specific embodiments.
Specific embodiment 4: unlike one of present embodiment and specific embodiment one to three, the step 4
The middle overlapping area that target vehicle i Yu surrounding vehicles interaction area are determined using Matlab software, detailed process are as follows:
Traveling constraint and the Duo Che interaction area and after having demarcated associated shape parameter of vehicle are explicitly defined, in next step
It will determine target vehicle i and surrounding vehicles interaction area overlapping area si, interaction area faying surface is solved with Matlab software
Product solves the area of oval intersection；
By in 6 parameter input Matlab softwares, interaction area overlapping area s is solved using Matlab integral formulai；
6 parameters are the shape of i vehicle and the abscissa of j vehicle, the ordinate of i vehicle and j vehicle, i vehicle and j vehicle interaction area
Parameter a2、b2；
Process are as follows:
Plane right-angle coordinate is established by coordinate origin of the geometric center of target carriage i vehicle, calculates i vehicle and j vehicle interactive areas
Domain phase (i.e. two is oval) hands over coordinate.
Other steps and parameter are identical as one of specific embodiment one to three.
Specific embodiment 5: unlike one of present embodiment and specific embodiment one to four, the step 5
In when vehicle spacing it is sufficiently large, when more vehicle interaction areas do not overlap, do not interacted between vehicle, vehicle lane-changing form is
Free lane-change, the spacing of i vehicle and j vehicle is greater than safe spacing at this time, and i vehicle carries out lane to the left with constant lateral velocity and changes
Road, j vehicle continue to travel with train tracing model before；
It when vehicle spacing is smaller, and more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is
Interaction lane-change, i vehicle are first turned on left steering lamp and issue lane-change request to j vehicle, and to left-lane (target lane) doubling, target carriage
I vehicle and surrounding vehicles interaction area overlapping area increase, and reciprocation enhancing, i vehicle sounds out the reaction of j vehicle；
When j vehicle slows down evacuation agreement i vehicle lane-change request, i vehicle is incorporated to target lane；
When the refusal lane-change request of j vehicle (j vehicle do not slow down evacuation), i vehicle is not yet decreased to safe spacing in the spacing with j vehicle
Before, it will continue to reaction that is close to target lane and souning out j vehicle, allow i vehicle lane-change until j vehicle slows down, but when i vehicle and j vehicle
Spacing be less than or equal to safe spacing when, due to safety concerns, i vehicle abandons lane-change, detailed process are as follows:
First have to the precondition of clearly more vehicle interaction lane-change behaviors.Lane-change behavior includes that lane-change demand generates, condition is sentenced
Disconnected, lane-change executes three steps, when desired speed is not achieved in current lane travel speed in target carriage i and closes on lanes item
When part is better than current lane, i vehicle generates lane-change demand, and following driver carries out lane-change decision, it is considered herein that lane-change decision
It is to be gradually completed in i vehicle is mutually soundd out and interacted with target lane front truck j-1, target lane rear car j, lane-change Analysis of Policy Making
It needs due to safety concerns, to avoid collision.So lane-change vehicle needs to meet the lane-change rule of following two-way traffic, formula includes
Description to lane-change motivation and safety condition:
Lane-change motivation:
Safety condition:
di,j> dsafe (4)
Wherein, di,i-1It is i vehicle at a distance from i-1 vehicle, unit m；di,j-1It is i vehicle at a distance from j-1 vehicle, unit m；
di,jIt is i vehicle at a distance from j vehicle, unit m；dsafeFor the safe spacing that i vehicle and j vehicle do not collide in subsequent time, unit
For m；viFor i vehicle speed, unit m/s；vjFor j vehicle speed, unit m/s；vmaxFor the maximum speed of i vehicle, unit m/s；
aiFor i vehicle acceleration, unit m/s2；ajFor the acceleration of j vehicle, unit m/s2；
Meet above-mentioned condition and then enters the lane-change execution stage.To the vehicle lane-changing amount for considering more vehicle interaction area overlapping areas
Change analysis method to be further illustrated, vehicle lane-changing form is divided into free lane-change and interaction two class of lane-change:
Free lane-change: when the spacing of vehicle is sufficiently large, when interaction area does not overlap, not generating interaction between vehicle,
The spacing of i vehicle and j vehicle is greater than the safe spacing (d in formula 3 at this timesafe), the free lane-change of target carriage i, with the j on target lane
The driving status of vehicle and j-1 vehicle is independent of each other；
Interaction lane-change: it when the spacing of vehicle is smaller, when interaction area overlaps, is interacted between vehicle, i vehicle lane-change
When be first turned on turn signal issue lane-change request to the doubling of target lane, as shown in figure 3, the friendship of i vehicle and j vehicle, i vehicle and j-1 vehicle
Mutual region area increases, the reciprocation enhancing between vehicle, when the interaction area area exceeds certain threshold value, i vehicle, j
Vehicle, j-1 vehicle respectively take counter-measure.The reaction of the j vehicle of i vehicle observation at this time, makes corresponding movement according to the reaction of j vehicle, and
The driving status of j vehicle is had an impact, as shown in the interaction diagrams of Fig. 4, there are two types of interactive modes for i vehicle and j vehicle at this time:
J vehicle agrees to the lane-change request of i vehicle, slows down as i vehicle lane-change slot milling, i vehicle with uniform transverse direction speed smoothly simultaneously
Enter target lane, the interaction area area of i vehicle and j vehicle reduces at this time, and the reciprocation of two vehicles weakens；
J vehicle refuses the lane-change request of i vehicle, and current vehicle speed traveling is kept even to accelerate, and i vehicle will not abandon lane-change meaning immediately
Figure, before being not yet decreased to safe spacing with the spacing of j vehicle, will continue to reaction that is close to target lane and souning out j vehicle, directly
Slowing down to j vehicle allows its lane-change, but when the spacing of two vehicles is less than or equal to safe spacing, due to safety concerns, i vehicle is abandoned changing
Road.
Analogy magnet of the present invention generates the principle of interaction by magnetic field, defines vehicle driving constraint and interaction
The concept in region gives the scaling method of constraint and interaction area form parameter, by lane-change vehicle and surrounding vehicles
Interaction, game are attributed to the variation of more vehicle interaction area overlapping areas, according to the variation of more vehicle interaction area overlapping areas, analysis
The driving behavior of lane-change vehicle and surrounding vehicles during lane-change.
Other steps and parameter are identical as one of specific embodiment one to four.
Beneficial effects of the present invention are verified using following embodiment:
Embodiment:
The present embodiment is specifically to be prepared according to the following steps:
The investigation of vehicle lane-changing behavioral data is carried out to the urban road basic road of length about 1.6km, is verified of the invention
The utility model has the advantages that
Data acquisition equipment uses P3-DT Beidou high accuracy positioning direction-finding receiver equipment, pacifies respectively on 6 instruction carriages
Antenna and receiver are filled, the data such as position, speed, the course angle of 6 vehicle real time executions are generated.
Experimental data is recorded in EXCEL, extracts the X-coordinate, Y-coordinate, vehicle speed data of 6 vehicles, and processing obtains lane-change vehicle
Transverse direction, length travel, analogue simulation is carried out to lane-change running track in MATLAB software.At interval of 0.2 second plane
The coordinate scatter plot at the transverse direction, length travel and the moment that are obtained after coordinate processing, as shown in Figure 5.
It can be obtained by the vehicle lane-changing track scatterplot fitting map analysis of Fig. 5, simulation lane-change track and practical lane-change track fitting
Goodness is 0.9029, illustrates the match value obtained using the method for the invention and true value error is smaller, confidence level is higher, demonstrate,prove
The validity of this vehicle lane-changing Rules expanding analysis method is illustrated.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (5)
1. considering the vehicle lane-changing method of more vehicle interaction area overlapping areas, it is characterised in that: the method detailed process are as follows:
Step 1: setting i vehicle as target vehicle, and i-1 vehicle is the front truck of target vehicle current lane, and i+1 vehicle is that target vehicle is current
The rear car in lane, j-1 vehicle are the front truck on the left of target vehicle direction of advance on target lane, and j vehicle is target vehicle direction of advance
Rear car on the target lane of left side；
Step 2: defining traveling constraint and the Duo Che interaction area of vehicle driving, and more vehicles are more than or equal to 2 vehicles；
Step 3: the form parameter a of vehicle driving constraint is demarcated respectively1、b1With the form parameter a of more vehicle interaction areas2、
b2；
Step 4: the overlapping area of target vehicle i Yu surrounding vehicles interaction area are determined using Matlab software；
Step 5: when more vehicle interaction areas do not overlap, not interacting between vehicle, and vehicle lane-changing form is freely to change
Road, the spacing of i vehicle and j vehicle is greater than safe spacing at this time, and i vehicle carries out lane lane-change to the left with constant lateral velocity, j vehicle with
Train tracing model before continues to travel；
It when more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is interaction lane-change, and i vehicle is beaten first
It opens left steering lamp and issues lane-change request to j vehicle, and to left-lane doubling；
When j vehicle slows down evacuation agreement i vehicle lane-change request, i vehicle is incorporated to target lane；
When the refusal lane-change request of j vehicle, i vehicle be will continue to before being not yet decreased to safe spacing with the spacing of j vehicle to target carriage
Road is close and sounds out the reaction of j vehicle, allows i vehicle lane-change until j vehicle slows down, but between the spacing of i vehicle and j vehicle is less than or equal to safety
Away from when, i vehicle abandons lane-change.
2. considering the vehicle lane-changing method of more vehicle interaction area overlapping areas according to claim 1, it is characterised in that: described
Traveling constraint and the Duo Che interaction area of vehicle driving are defined in step 2, more vehicles are more than or equal to 2 vehicles, specifically
Process are as follows:
Using the front truck of target vehicle current lane as referential, the geometric center of target vehicle is coordinate origin, vehicle advance side
To for positive direction of the x-axis, perpendicular to vehicle forward direction and the direction be directed toward on the left of vehicle forward direction is positive direction of the y-axis, is established
Two-dimensional surface rectangular coordinate system；
Travel constraint:
More vehicle interaction areas:
Wherein, a1、b1For the form parameter for travelling constraint；a2、b2For the form parameter of more vehicle interaction areas.
3. the vehicle lane-changing method according to claim 1 or claim 2 for considering more vehicle interaction area overlapping areas, it is characterised in that:
The form parameter a of vehicle driving constraint is demarcated in the step 3 respectively1、b1With the form parameter a of more vehicle interaction areas2、
b2, detailed process are as follows:
Travel the form parameter a of constraint1、b1Value:
a1Equal to dmin；dminFor vehicle spacing of the constraint boundary of front and back vehicle when tangent；
Rectangular area formula S=2a is inscribed using traveling constraint1b1Find out b1；
The form parameter a of more vehicle interaction areas2、b2Value:
Average speed of traffic flow isCritical time headway is tmin, critical space headway isThen
b2Equal to dL, dLFor the width in lane.
4. considering the vehicle lane-changing method of more vehicle interaction area overlapping areas according to claim 3, it is characterised in that: described
The overlapping area of target vehicle i Yu surrounding vehicles interaction area, detailed process are determined in step 4 using Matlab software are as follows:
By in 6 parameter input Matlab softwares, interaction area overlapping area s is solved using Matlab integral formulai；
6 parameters are the form parameter of i vehicle and the abscissa of j vehicle, the ordinate of i vehicle and j vehicle, i vehicle and j vehicle interaction area
a2、b2；
Process are as follows:
Plane right-angle coordinate is established by coordinate origin of the geometric center of target carriage i vehicle, calculates i vehicle and j vehicle interaction area phase
Hand over coordinate.
5. considering the vehicle lane-changing method of more vehicle interaction area overlapping areas according to claim 4, it is characterised in that: described
When more vehicle interaction areas do not overlap in step 5, not interacted between vehicle, vehicle lane-changing form is free lane-change, this
When i vehicle and the spacing of j vehicle be greater than safe spacing, i vehicle carries out lane lane-change to the left with constant lateral velocity, and j vehicle is with before
Train tracing model continue to travel；
It when more vehicle interaction areas overlap, is interacted between vehicle, vehicle lane-changing form is interaction lane-change, and i vehicle is beaten first
It opens left steering lamp and issues lane-change request to j vehicle, and to left-lane doubling；
When j vehicle slows down evacuation agreement i vehicle lane-change request, i vehicle is incorporated to target lane；
When the refusal lane-change request of j vehicle, i vehicle be will continue to before being not yet decreased to safe spacing with the spacing of j vehicle to target carriage
Road is close and sounds out the reaction of j vehicle, allows i vehicle lane-change until j vehicle slows down, but between the spacing of i vehicle and j vehicle is less than or equal to safety
Away from when, i vehicle abandons lane-change, detailed process are as follows:
Lane-change vehicle needs to meet the lane-change rule of following two-way traffic, and formula includes the description to lane-change motivation and safety condition:
Lane-change motivation:
Safety condition:
di,j> dsafe (4)
Wherein, di,i-1It is i vehicle at a distance from i-1 vehicle, unit m；di,j-1It is i vehicle at a distance from j-1 vehicle, unit m；di,jFor i
Vehicle is at a distance from j vehicle, unit m；dsafeFor the safe spacing that i vehicle and j vehicle do not collide in subsequent time, unit m；vi
For i vehicle speed, unit m/s；vjFor j vehicle speed, unit m/s；vmaxFor the maximum speed of i vehicle, unit m/s；aiFor i vehicle
Acceleration, unit m/s2；ajFor the acceleration of j vehicle, unit m/s2；
Meet above-mentioned condition and then enter the lane-change execution stage, vehicle lane-changing form is divided into free lane-change and interaction two class of lane-change:
Free lane-change: when interaction area does not overlap, not generating interaction between vehicle, the spacing of i vehicle and j vehicle is greater than peace at this time
Full spacing, the free lane-change of target carriage i are independent of each other with the driving status of j vehicle and j-1 vehicle on target lane；
Interaction lane-change: when interaction area overlaps, interacting between vehicle, and when i vehicle lane-change is first turned on turn signal and issues
Lane-change is requested to the doubling of target lane, and there are two types of interactive modes for i vehicle and j vehicle at this time:
J vehicle agrees to the lane-change request of i vehicle, slows down as i vehicle lane-change slot milling, and i vehicle is smoothly incorporated to mesh with uniform transverse direction speed
Lane is marked, the interaction area area of i vehicle and j vehicle reduces at this time；
J vehicle refuses the lane-change request of i vehicle, keeps current vehicle speed traveling even to accelerate, i vehicle will not abandon lane-changing intention, In immediately
Before being not yet decreased to safe spacing with the spacing of j vehicle, reaction that is close to target lane and souning out j vehicle will continue to, until j vehicle
Slowing down allows its lane-change, but when the spacing of two vehicles is less than or equal to safe spacing, i vehicle abandons lane-change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668661.4A CN110390839B (en) | 2019-07-23 | 2019-07-23 | Vehicle lane changing method considering overlapping area of multi-vehicle interaction area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668661.4A CN110390839B (en) | 2019-07-23 | 2019-07-23 | Vehicle lane changing method considering overlapping area of multi-vehicle interaction area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110390839A true CN110390839A (en) | 2019-10-29 |
| CN110390839B CN110390839B (en) | 2020-06-30 |
Family
ID=68287051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910668661.4A Active CN110390839B (en) | 2019-07-23 | 2019-07-23 | Vehicle lane changing method considering overlapping area of multi-vehicle interaction area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110390839B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723146A (en) * | 2019-10-31 | 2020-01-24 | 哈尔滨工业大学 | Multi-vehicle exchange lane decision method considering driving benefit increment |
| CN111079834A (en) * | 2019-12-16 | 2020-04-28 | 清华大学 | Intelligent vehicle safety situation assessment method considering multi-vehicle interaction |
| CN111462501A (en) * | 2020-05-21 | 2020-07-28 | 山东师范大学 | Super-view area passing system based on 5G network and implementation method thereof |
| CN111599215A (en) * | 2020-05-08 | 2020-08-28 | 北京交通大学 | Non-signalized intersection mobile block vehicle guiding system and method based on Internet of vehicles |
| CN111775961A (en) * | 2020-06-29 | 2020-10-16 | 北京百度网讯科技有限公司 | Automatic driving vehicle planning method and device, electronic equipment and storage medium |
| CN112918467A (en) * | 2019-11-21 | 2021-06-08 | 北京宝沃汽车股份有限公司 | Method and device for vehicle lane change alarm, storage medium and vehicle |
| CN113903174A (en) * | 2021-11-10 | 2022-01-07 | 哈尔滨工业大学 | Intersection area multi-vehicle intersection lane model considering transverse deviation and construction method thereof |
| CN117261920A (en) * | 2023-09-19 | 2023-12-22 | 广州市城市规划勘测设计研究院 | Vehicle lane change identification method, device, terminal and medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070179712A1 (en) * | 2004-04-22 | 2007-08-02 | Martin Brandt | Blind spot sensor system |
| CN102800214A (en) * | 2012-08-27 | 2012-11-28 | 武汉大学 | Vehicle lane change conflict resolution method under vehicle information interaction condition |
| JP2014016889A (en) * | 2012-07-10 | 2014-01-30 | Denso Corp | Alarm device |
| US20160129840A1 (en) * | 2001-07-31 | 2016-05-12 | Magna Electronics Inc. | Driver assistance system for a vehicle |
| CN107315411A (en) * | 2017-07-04 | 2017-11-03 | 合肥工业大学 | A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck |
| CN107507408A (en) * | 2017-07-24 | 2017-12-22 | 重庆大学 | It is a kind of consider front truck lane-change import process with the acceleration and with speeding on as modeling method of speeding |
| CN108490950A (en) * | 2018-04-23 | 2018-09-04 | 安徽江淮汽车集团股份有限公司 | A kind of lane change method and system based on virtual rail |
| CN109035862A (en) * | 2018-08-06 | 2018-12-18 | 清华大学 | A kind of more vehicles collaboration lane-change control method based on truck traffic |
| CN109878523A (en) * | 2019-03-08 | 2019-06-14 | 北京领骏科技有限公司 | A kind of automatic driving vehicle lane changing control method and device |
| CN109941275A (en) * | 2019-03-12 | 2019-06-28 | 杭州飞步科技有限公司 | Lane changing method, apparatus, electronic equipment and storage medium |
-
2019
- 2019-07-23 CN CN201910668661.4A patent/CN110390839B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160129840A1 (en) * | 2001-07-31 | 2016-05-12 | Magna Electronics Inc. | Driver assistance system for a vehicle |
| US20070179712A1 (en) * | 2004-04-22 | 2007-08-02 | Martin Brandt | Blind spot sensor system |
| JP2014016889A (en) * | 2012-07-10 | 2014-01-30 | Denso Corp | Alarm device |
| CN102800214A (en) * | 2012-08-27 | 2012-11-28 | 武汉大学 | Vehicle lane change conflict resolution method under vehicle information interaction condition |
| CN107315411A (en) * | 2017-07-04 | 2017-11-03 | 合肥工业大学 | A kind of lane-change method for planning track based on automatic driving vehicle under collaborative truck |
| CN107507408A (en) * | 2017-07-24 | 2017-12-22 | 重庆大学 | It is a kind of consider front truck lane-change import process with the acceleration and with speeding on as modeling method of speeding |
| CN108490950A (en) * | 2018-04-23 | 2018-09-04 | 安徽江淮汽车集团股份有限公司 | A kind of lane change method and system based on virtual rail |
| CN109035862A (en) * | 2018-08-06 | 2018-12-18 | 清华大学 | A kind of more vehicles collaboration lane-change control method based on truck traffic |
| CN109878523A (en) * | 2019-03-08 | 2019-06-14 | 北京领骏科技有限公司 | A kind of automatic driving vehicle lane changing control method and device |
| CN109941275A (en) * | 2019-03-12 | 2019-06-28 | 杭州飞步科技有限公司 | Lane changing method, apparatus, electronic equipment and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 张兰芳 等: "基于自然驾驶数据的高速公路出口换道决策模型", 《同济大学学报（自然科学版）》 * |
| 曲大义 等: "车辆换道交互行为分析和建模", 《公路交通科技》 * |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723146B (en) * | 2019-10-31 | 2021-02-09 | 哈尔滨工业大学 | Multi-vehicle exchange lane decision method considering driving benefit increment |
| CN110723146A (en) * | 2019-10-31 | 2020-01-24 | 哈尔滨工业大学 | Multi-vehicle exchange lane decision method considering driving benefit increment |
| CN112918467A (en) * | 2019-11-21 | 2021-06-08 | 北京宝沃汽车股份有限公司 | Method and device for vehicle lane change alarm, storage medium and vehicle |
| CN111079834A (en) * | 2019-12-16 | 2020-04-28 | 清华大学 | Intelligent vehicle safety situation assessment method considering multi-vehicle interaction |
| CN111079834B (en) * | 2019-12-16 | 2020-10-02 | 清华大学 | Intelligent vehicle safety situation assessment method considering multi-vehicle interaction |
| CN111599215A (en) * | 2020-05-08 | 2020-08-28 | 北京交通大学 | Non-signalized intersection mobile block vehicle guiding system and method based on Internet of vehicles |
| CN111462501A (en) * | 2020-05-21 | 2020-07-28 | 山东师范大学 | Super-view area passing system based on 5G network and implementation method thereof |
| CN111462501B (en) * | 2020-05-21 | 2021-08-17 | 山东师范大学 | Super-view area passing system based on 5G network and implementation method thereof |
| CN111775961A (en) * | 2020-06-29 | 2020-10-16 | 北京百度网讯科技有限公司 | Automatic driving vehicle planning method and device, electronic equipment and storage medium |
| CN111775961B (en) * | 2020-06-29 | 2022-01-04 | 阿波罗智能技术(北京)有限公司 | Automatic driving vehicle planning method and device, electronic equipment and storage medium |
| US11878716B2 (en) | 2020-06-29 | 2024-01-23 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for planning autonomous vehicle, electronic device and storage medium |
| CN113903174A (en) * | 2021-11-10 | 2022-01-07 | 哈尔滨工业大学 | Intersection area multi-vehicle intersection lane model considering transverse deviation and construction method thereof |
| CN117261920A (en) * | 2023-09-19 | 2023-12-22 | 广州市城市规划勘测设计研究院 | Vehicle lane change identification method, device, terminal and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110390839B (en) | 2020-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110390839A (en) | Consider the vehicle lane-changing method of more vehicle interaction area overlapping areas | |
| CN109035862B (en) | Multi-vehicle cooperative lane change control method based on vehicle-to-vehicle communication | |
| Wang et al. | Cooperative eco-driving at signalized intersections in a partially connected and automated vehicle environment | |
| CN110286681B (en) | Dynamic automatic driving track-changing planning method for curvature-variable curve | |
| CN106218638B (en) | Intelligent network-connected automobile cooperative lane change control method | |
| Bai et al. | Accelerated lane-changing trajectory planning of automated vehicles with vehicle-to-vehicle collaboration | |
| CN108919795A (en) | A kind of autonomous driving vehicle lane-change decision-making technique and device | |
| CN112193244B (en) | Automatic driving vehicle motion planning method based on linear constraint | |
| CN102762428B (en) | Controller of vehicle | |
| Yoo et al. | Stackelberg game based model of highway driving | |
| CN102433811B (en) | Method for determining minimum distance of road intersections in harbor district | |
| Lu et al. | Adaptive potential field-based path planning for complex autonomous driving scenarios | |
| CN105974917A (en) | Vehicle obstacle-avoidance path planning research method based on novel manual potential field method | |
| CN107146412A (en) | A kind of vehicle on highway anticollision early warning generalized variable construction method based on car networking | |
| CN103253261A (en) | Following auxiliary control system based on inter-vehicle cooperation | |
| CN112233413B (en) | Multilane space-time trajectory optimization method for intelligent networked vehicle | |
| CN105551282A (en) | Overtaking prompting method and apparatus | |
| CN109781129A (en) | A kind of road surface safety detection system and method based on inter-vehicular communication | |
| WO2023024914A1 (en) | Vehicle avoidance method and apparatus, computer device, and storage medium | |
| CN114148330A (en) | Vehicle interchange lane method considering multi-vehicle game | |
| Zhang et al. | A cruise control method for connected vehicle systems considering side vehicles merging behavior | |
| CN102505593B (en) | Deep length determining method of passageway | |
| Das et al. | Saint-acc: Safety-aware intelligent adaptive cruise control for autonomous vehicles using deep reinforcement learning | |
| CN111899509B (en) | Intelligent networking automobile state vector calculation method based on vehicle-road information coupling | |
| Ding et al. | Research on safety lane change warning method based on potential angle collision point |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |