CN116311867A - Multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control - Google Patents
Multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control Download PDFInfo
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Abstract
The invention discloses a multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control, which is characterized in that a target lane is affected by a vehicle to be identified, and the lane changing process is properly slowed down to prepare for the lane changing process; when a vehicle which does not influence lane changing in front of a target lane and a vehicle which has potential influence on lane changing exist behind the target lane, the last vehicle in the queue is subjected to lane changing preferentially, and the rest vehicles needing lane changing are subjected to lane changing integrally; when the whole lane is changed, longitudinal displacement in the lane changing process is planned in advance, the distance between the queues on the target lane is shortened in advance in the lane changing process, and the formation and stable speed of the intelligent network train on the target lane after the lane changing is finished are accelerated; based on the double-five lane change track model, a lane change process is executed by multiple vehicles simultaneously. The invention comprehensively considers the positions and the running tracks of the vehicles inside and outside the queue, the track changing process and the formation and recovery of the intelligent network train connection queue are quicker, thereby providing reasonable method basis for the cooperative track changing of multiple vehicles in the intelligent network train connection queue and guaranteeing the road traffic safety.
Description
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control.
Background
Today, the construction of the traffic infrastructure in China is tired, and the development of road hardware is quite perfect. How to improve the traffic capacity and the safety level of the existing roads becomes the key of traffic development. The intelligent network-connected automobile is provided with sensing equipment, and meanwhile, nearby vehicle information is acquired through V2V communication, so that real-time traffic change can be accurately perceived and responded quickly, and the intelligent network-connected automobile has good effects of relieving congestion and reducing traffic accidents. The intelligent network vehicles with similar driving paths can form a queue and travel at consistent speed and smaller distance, so that the safety and the road traffic capacity can be improved. In the process of forming and disassembling the queue and driving, there are mainly two actions of following and changing lanes. Unreasonable lane changing behavior often causes accidents and congestion, and is one of the main reasons for reducing road traffic efficiency and causing unsafe factors. The lane changing is realized in the queue by utilizing the intelligent network vehicle connection technology through a multi-vehicle cooperative method, so that the safety and the efficiency of lane changing behavior can be effectively improved, the occurrence of traffic accidents is reduced, and the traffic capacity of roads is improved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control aiming at the defects of the prior art, the multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control is based on the speed, acceleration and position information of vehicles in a queue, a lane changing track is selected and planned in a reasonable mode by analyzing the state of a manual driving vehicle behind a target lane, the multi-vehicle collaborative lane changing process is completed, the formation time of a new queue is shortened by planning the longitudinal position of the vehicle in advance, and a safe and efficient method is provided for intelligent network vehicle linkage queue multi-vehicle collaborative lane changing.
In order to solve the technical problems, the invention adopts the following technical scheme:
a multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control comprises the following steps.
Step 1, target lane influences vehicle identification: the intelligent network vehicle connection queue is positioned on an outer lane adjacent to the target lane; a manual driving vehicle runs in the target lane; the longitudinal distance between the manual driving vehicle which is positioned in the front of the intelligent network vehicle linkage queue and is closest to the head of the intelligent network vehicle linkage queue in the target lane is D0; the longitudinal distance between the artificial driving vehicle which is positioned behind the intelligent network vehicle linkage queue and is closest to the tail of the intelligent network vehicle linkage queue in the target lane is D1.
When D0 is more than or equal to D0, the lane changing vehicle which does not affect the intelligent network vehicle connection queue is considered to be in front of the target lane; d0 is the pre-lane change safety threshold.
When D1 is more than or equal to D1, the lane changing vehicle behind the target lane is considered to have no influence on the intelligent network vehicle connection queue; d1 is a post-change safety threshold.
When D2 is less than or equal to D1 and less than D1, the lane changing vehicle potentially influencing the intelligent network vehicle connection queue is considered to be arranged behind the target lane; wherein d2 is the minimum longitudinal distance that allows lane changing; d2 < d1.
When D1 is smaller than D2, the intelligent network car-connected queue at the current moment is considered to be unsuitable for changing the channel, and the opportunity needs to be waited for to enable D1 to be larger than or equal to D2.
Step 2, determining a lane change mode: if m vehicles need to be changed in the intelligent network vehicle connection queue are set, the method for determining the lane changing mode comprises the following steps:
A. and when D0 is more than or equal to D0 and D1 is more than or equal to D1, jumping to the step 4, and enabling m vehicles needing to be changed in the intelligent network coupling queue to realize synchronous lane changing.
B. When D0 is more than or equal to D0 and D2 is less than or equal to D1 and less than D1, entering a step 3, and enabling the last vehicle at the tail part of m vehicles needing to be changed in the intelligent network vehicle connection queue to be preferably changed; and after the last vehicle is changed, entering a step 4, so that the rest m-1 vehicles can be changed integrally at the same time.
Step 3, the tail vehicle is preferably changed, and the method specifically comprises the following steps of:
step 3-1, planning lateral acceleration: and obtaining a change relation curve of the transverse acceleration of the tail vehicle along with time according to the trapezoidal acceleration model, and further obtaining a change relation curve of the transverse displacement along with time.
Step 3-2, planning longitudinal acceleration: planning the longitudinal acceleration of the tail vehicle by adopting a longitudinal controller; the longitudinal controller controls based on the PF communication topology and the timing strategy.
Step 3-3, changing the tail vehicle channel: the tail vehicle changes from the outside lane to the target lane according to the lateral acceleration planned in step 3-1 and the longitudinal acceleration planned in step 3-2.
Step 4, overall lane changing, which specifically comprises the following steps:
step 4-1, calculating the whole channel change parameter: the integral channel change parameter comprises integral channel change time t d Speed v of end of track change d And longitudinal lane change displacement x d The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the whole channel changing time t d Determining according to the lane width w; longitudinal lane change displacement x of ith intelligent network vehicle in m lane change required vehicles d The calculation method of (1) is as follows:
A. when i=1, indicating that the vehicle is the lane change vehicle with the forefront position in the original queue, and is the head vehicle of a new queue on the target lane after lane change is completed; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
in the formula, v s The longitudinal speed of the intelligent network linkage train when the intelligent network linkage train stably runs at the beginning of lane change.
B. When i is not equal to 1, indicating that the vehicle is not the vehicle with the forefront lane change in the original queue, the vehicle is required to be drawn forward in the lane change process, and the distance between the vehicle and the front vehicle on the target lane is shortened, so that a new queue can be formed more quickly when the lane change is finished; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
wherein p is i The method is used for numbering the sequence of the ith intelligent network vehicle in the original intelligent network vehicle queue in m vehicles needing lane change.
p i-1 The method is used for numbering the sequence of the (i-1) th intelligent network vehicle in the original intelligent network vehicle queue in m vehicles needing lane change.
d is the expected head space between two adjacent vehicles when the new queue is stable, and is a set value.
Δp max For the maximum number of vehicle intervals allowed without collision during lane change.
Step 4-2, overall lane change: and (3) according to the integral lane change parameters calculated in the step (4-1) and the double-five lane change track model, m vehicles needing lane change are synchronously and integrally changed to a target lane from an outer lane.
In step 1, d 0 The calculation formula of (2) is as follows:
wherein d safe For the longitudinal safety distance between the manually driven vehicle and the intelligent networked vehicle, a value is known.
t dmax The maximum time required for emergency correction of the vehicle posture in the lane change process is set.
v platoon And (5) the running speed of the intelligent network train is obtained.
x limit The shortest braking distance for a front manually driven vehicle is known.
a brake The emergency braking speed is queued for the intelligent network vehicle, a known value.
In step 1, the calculation formulas of d1 and d2 are respectively:
wherein t is pre The time for turning on the turn signal lamp is preset for the network train queue.
t act The reaction time of the driver for a manually driven vehicle is known.
v humandrive For manual driving of the vehicle speed.
a comfortable For comfortable braking deceleration of a manually driven vehicle, a value is known.
The expression of the longitudinal controller is:
wherein:
wherein u is f Is a longitudinal acceleration controller of a vehicle with a preferable lane change tail.
k fp ，k fv And k fa The position, the speed and the acceleration feedback gain of the vehicle at the tail of the preferable lane change are set values respectively.
τ f The value is known for inertia time lag in the preferred lane change tail vehicle powertrain.
p f ，v f And a f The position, speed and acceleration of the preferred lane change tail vehicle, respectively.
p p ，v p And a p The position, the speed and the acceleration of the nearest intelligent network vehicle in front of the vehicle at the tail of the preferable lane change are respectively.
h f The time interval between the vehicle at the tail of the optimized lane change and the nearest intelligent network vehicle is selected.
In step 4-1, Δp max The method is obtained by solving the following formulas:
Δp max ＝MAX(p i -p i-1 )
wherein L is the length of the intelligent network vehicle.
Δx p When the ith intelligent network vehicle in the m vehicles needing lane changing transversely deviates out of the queue for one vehicle width, the longitudinal relative displacement of the ith intelligent network vehicle is realized;
t p the time that the ith intelligent network vehicle in the m vehicles needing lane changing does not collide with the front vehicle running on the original lane in the transverse direction is set.
In the step 4-2, the double-five lane change track model is as follows:
in the formula, v 0 The speed at the beginning of lane change of the ith intelligent network vehicle in the m vehicles needing lane change is obtained.
The invention has the following beneficial effects:
1. the invention is based on the existing intelligent network vehicle-connected queue longitudinal controller, obtains surrounding vehicle information through V2V communication, analyzes the states of manual driving vehicles in front of and behind a target lane based on the vehicle speed, acceleration and position information in the queue, selects a reasonable mode to plan a lane change track, completes a multi-vehicle collaborative lane change process, and helps to shorten the formation time of a new queue by planning the longitudinal position of the vehicle in advance.
2. According to the method provided by the invention, various lane changing scenes are comprehensively considered, the V2V-based queue control is combined with lane changing, and lane changing vehicles can change lanes in a shorter time at a closer safety interval; when the lane change is not influenced by vehicles, multiple vehicles can be simultaneously changed; when a vehicle which possibly influences lane changing exists at the rear, the lane changing is carried out on the rear vehicle in the lane changing vehicle, enough space is reserved for the front vehicle after the speed is reduced, and then multiple vehicles can simultaneously change lanes; vehicles which remain in the original lane can restore the distance more quickly, and vehicles on the new lane can shorten the distance more quickly. The time of the whole lane changing process is shortened, and the road passing efficiency is improved; the unstable factors are reduced, and the guarantee is provided for road traffic safety.
Drawings
Fig. 1 is a flow chart of a multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.
As shown in FIG. 1, the multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control comprises the following steps.
Step 1, target lane influences vehicle identification: the intelligent network vehicle connection queue is positioned on an outer lane adjacent to the target lane; a manual driving vehicle runs in the target lane; the longitudinal distance between the manual driving vehicle which is positioned in the front of the intelligent network vehicle linkage queue and is closest to the head of the intelligent network vehicle linkage queue in the target lane is D0; the longitudinal distance between the artificial driving vehicle which is positioned behind the intelligent network vehicle linkage queue and is closest to the tail of the intelligent network vehicle linkage queue in the target lane is D1.
When D0 is more than or equal to D0, the lane changing vehicle which does not affect the intelligent network vehicle connection queue is considered to be in front of the target lane; d0 is the pre-lane change safety threshold.
When D1 is more than or equal to D1, the lane changing vehicle behind the target lane is considered to have no influence on the intelligent network vehicle connection queue; d1 is a post-change safety threshold.
When D2 is less than or equal to D1 and less than D1, the lane changing vehicle potentially influencing the intelligent network vehicle connection queue is considered to be arranged behind the target lane; wherein d2 is the minimum longitudinal distance that allows lane changing; d2 < d1.
When D1 is smaller than D2, the intelligent network car-connected queue at the current moment is considered to be unsuitable for changing the channel, and the opportunity needs to be waited for to enable D1 to be larger than or equal to D2.
D is as above 0 The calculation formula of (2) is preferably:
wherein d safe For the longitudinal safety distance between the manually driven vehicle and the intelligent networked vehicle, a value is known.
t dmax The maximum time required for emergency correction of the vehicle posture in the lane change process is set.
v platoon And (5) the running speed of the intelligent network train is obtained.
x limit The shortest braking distance for a front manually driven vehicle is known.
a brake The emergency braking speed is queued for the intelligent network vehicle, a known value.
The above formulas for d1 and d2 are preferably respectively:
wherein t is pre The time for turning on the turn signal lamp is preset for the network train queue.
t act The reaction time of the driver for a manually driven vehicle is known.
v humandrive For manual driving of the vehicle speed.
a comfortable For comfortable braking deceleration of a manually driven vehicle, a value is known.
In the present embodiment, the following assumption is made for a manually driven vehicle behind the target lane:
(1) taking into account the maximum normal reaction time 2s of the driver;
(2) consider that there is a case of overspeed within 10%, i.e. 132km/h (highest speed without penalty);
(3) consider a comfortable deceleration of the occupant of 0.15G, i.e. 1.47m/s, under non-emergency braking 2 ；
(4) The intelligent network train is considered to have a speed not lower than 100km/h when the queues are stably ready for lane change.
(5) The last lane changing vehicle before lane changing starts the turn signal lamp 4 seconds in advance, and then lane changing is carried out.
(6) The emergency braking deceleration of the intelligent network car is 8m/s 2 。
(7) The posture adjustment time in the intelligent network car-connected channel changing process is not more than half of the total channel changing time length, namely less than 2.5s.
(8) The unexpected shortest stopping distance of the manually driven vehicle is 80m.
Under the above assumption, it is possible to:
d 1 ＝99.8m≈100m，d 2 ＝54.6m≈55m
in this embodiment, d is preferably 0 ＝70m。
When some vehicles in the queue change lanes, the longitudinal direction of the queue still needs to be kept stable, i.e. the longitudinal speed of the lane change vehicles is consistent with the longitudinal speed of the vehicles which keep the original lanes to run. If the original driving speed of the queue is obviously lower than the road speed limit, the speed of the lane changing vehicle can be increased, and the transverse speed is provided under the condition of maintaining the longitudinal speed unchanged; if the original driving speed of the queue is close to or equal to the road speed limit, the transverse speed cannot be provided by accelerating the lane changing vehicle, and the whole queue needs to be properly decelerated before lane changing. I.e. the sum of the squares of the longitudinal maximum speed and the transverse maximum speed must not exceed the square of the speed limit.
For the deceleration process of the motorcade before the lane change, taking the expressway with the speed limit of 120km/h as an example and taking the trapezoidal acceleration lane change track model as an example, the maximum transverse speed v in the lane change process ymax About 2.2m/s, solving for v xmax =119.7 km/h, i.e. the speed of the queue needs to be reduced below this speed when it is greater than 119.7km/h, and less than this speed does not need to be reduced. Therefore, the situation of needing to decelerate and the deceleration amplitude are smaller, and hardly any influence is generated on the normal running of the train.
Step 2, determining a lane change mode: if m vehicles need to be changed in the intelligent network vehicle connection queue are set, the method for determining the lane changing mode comprises the following steps:
A. and when D0 is more than or equal to D0 and D1 is more than or equal to D1, jumping to the step 4, and enabling m vehicles needing to be changed in the intelligent network coupling queue to realize synchronous lane changing. In this example, when D0 is not less than 70m and D1 is not less than 100m, it is considered that there is no risk and the lane change can be directly performed.
B. When D0 is more than or equal to D0 and D2 is less than or equal to D1 and less than D1, entering a step 3, and enabling the last vehicle at the tail part of m vehicles needing to be changed in the intelligent network vehicle connection queue to be preferably changed; and after the last vehicle is changed, entering a step 4, so that the rest m-1 vehicles can be changed integrally at the same time.
In the embodiment, when D0 is more than or equal to 70m and D1 is more than or equal to 55m and less than or equal to 100m, a certain risk is considered to exist, the last vehicle is required to be transferred into a target lane in advance, and a lane change space is provided for the front lane change vehicle.
In addition, in the case where D0 < D0 and D1 < D2 (i.e., D0 < 70m or D1 < 55 m), the track is not changed at the present time, the track may be changed at a subsequent time in a manner.
C. For the case of a current instant D0 < D0 (i.e. D0 < 70 m), the lane change at the subsequent instant preferably takes place in the following two ways:
(1) if the intelligent network vehicle queue speed is less than or equal to the front person driving speed, the maximum comfortable deceleration is 1.47m/s 2 And (3) uniformly decelerating, reducing the speed to be 20km/h lower than that of the front vehicle, and restarting the lane change process when the vehicle leaves the front 70-meter area.
(2) If the intelligent network vehicle alignment speed is greater than the front person driving speed, the maximum comfortable acceleration is 1.47m/s 2 And (3) uniformly accelerating, namely exceeding the front vehicle after accelerating to the highest speed limit, and restarting the lane change process after the vehicle is more than 55m away from the train tail vehicle.
D. For the case of a current instant D1 < D2 (i.e. D1 < 55 m), the lane change at the subsequent instant preferably takes place in the following two ways:
(1) if the speed of the rear vehicle is greater than or equal to the speed of the intelligent network vehicle linkage queue, the intelligent network vehicle linkage queue takes the maximum comfortable deceleration of 1.47m/s 2 And (3) uniformly decelerating, reducing the speed to be lower than 20km/h of the rear vehicle, and restarting the lane change process when the rear vehicle completely exceeds the area 70 meters in front of the driving-away motorcade.
(2) If the speed of the rear vehicle is lower than the speed of the intelligent network train queue, the intelligent network train queue lights up a steering lamp with the maximum comfortable acceleration of 1.47m/s 2 Uniformly accelerating to increase the speed to be 10km/h higher than the rear vehicle, and waiting for the rear vehicle to weigh when the distance between the tail vehicle of the fleet is more than 55 metersAnd (5) starting a channel changing process.
Step 3, the tail vehicle is preferably changed, and the method specifically comprises the following steps of:
step 3-1, planning lateral acceleration: and obtaining a change relation curve of the transverse acceleration of the tail vehicle along with time according to the trapezoidal acceleration model, and further obtaining a change relation curve of the transverse displacement along with time.
The form of the transverse trapezoidal acceleration model is as follows:
wherein t is 1 For the time, t, required for the vehicle to reach the maximum lateral acceleration at the maximum j value 2 The time for maintaining the maximum transverse acceleration unchanged for the first time in the lane changing process of the automobile; j is the maximum rate of change of the lateral acceleration, which is a known value; v is the speed of the preferred lane change tail vehicle; a is the acceleration of the preferred lane change tail vehicle.
Further, the relationship between the transverse displacement of the automobile and time is obtained by carrying out secondary integration on the formula:
further, for the above formula, there is ≡adt=w, w is the lane width, t can be solved 2 And obtaining the final relation between the transverse acceleration and the transverse displacement and the time.
In the present embodiment, taking the expressway as an example, the lane width is 3.75 m, and the lateral maximum acceleration is 1.5m/s 2 The maximum change rate of the transverse acceleration is 3m/s 3 . Solving to obtain t 2 =0.85 s, total lane change duration is 3.70s.
Namely, the relation between the transverse acceleration and time is as follows:
namely, the relation between the transverse displacement and time is as follows:
step 3-2, planning longitudinal acceleration: planning the longitudinal acceleration of the tail vehicle by adopting a longitudinal controller; the longitudinal controller controls based on the PF communication topology and the timing strategy.
The expression of the longitudinal controller is as follows:
wherein:
wherein u is f Is a longitudinal acceleration controller of a vehicle with a preferable lane change tail.
k fp ，k fv And k fa The position, the speed and the acceleration feedback gain of the vehicle at the tail of the preferable lane change are set values respectively.
τ f The value is known for inertia time lag in the preferred lane change tail vehicle powertrain.
p f ，v f And a f The position, speed and acceleration of the preferred lane change tail vehicle, respectively.
p p ，v p And a p The position, the speed and the acceleration of the nearest intelligent network vehicle in front of the vehicle at the tail of the preferable lane change are respectively.
h f The time interval between the vehicle at the tail of the optimized lane change and the nearest intelligent network vehicle is selected.
The values of the parameters of the longitudinal controller and the controller form are preferably as follows:
k fp ＝0.1，k fv ＝1.6，k fa ＝0.8，h f ＝0.5s
step 3-3, changing the tail vehicle channel: the tail vehicle changes from the outside lane to the target lane according to the lateral acceleration planned in step 3-1 and the longitudinal acceleration planned in step 3-2.
Step 4, overall lane changing, which specifically comprises the following steps:
step 4-1, calculating the whole channel change parameter: the integral channel change parameter comprises integral channel change time t d Speed v of end of track change d And longitudinal lane change displacement x d The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the whole channel changing time t d Determining according to the lane width w; track change end speed v d Preferably, the speed of the original queue without channel change is consistent with the speed of the original queue at the channel change end, and the original queue is kept to run at a constant speed in the channel change process in view of safety and stability and is considered as v d ＝v x 。
Longitudinal lane change displacement x of ith intelligent network vehicle in m lane change required vehicles d The calculation method of (1) is as follows:
A. when i=1, this indicates that the car is the foremost change in the original queueThe lane vehicle is a head vehicle which is newly queued on the target lane after lane change is completed; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
in the formula, v s The longitudinal speed of the intelligent network linkage train when the intelligent network linkage train stably runs at the beginning of lane change.
B. When i is not equal to 1, indicating that the vehicle is not the vehicle with the forefront lane change in the original queue, the vehicle is required to be drawn forward in the lane change process, and the distance between the vehicle and the front vehicle on the target lane is shortened, so that a new queue can be formed more quickly when the lane change is finished; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
wherein p is i The method is used for numbering the sequence of the ith intelligent network vehicle in the original intelligent network vehicle queue in m vehicles needing lane change.
p i-1 The method is used for numbering the sequence of the (i-1) th intelligent network vehicle in the original intelligent network vehicle queue in m vehicles needing lane change.
d is the expected head space between two adjacent vehicles when the new queue is stable, and is a set value.
Δp max For the maximum number of vehicle intervals allowed without collision during lane change.
Above Δp max The method is obtained by solving the following formulas:
Δp max ＝MAX(p i -p i-1 ) (1)
Δx p ＜d-L (3)
wherein L is the length of the intelligent network vehicle.
Δx p When the ith intelligent network vehicle in the m vehicles needing lane changing transversely deviates out of the queue for one vehicle width, the longitudinal relative displacement of the ith intelligent network vehicle is realized.
Δx p Preferably, the solution method of (a) is: let p be i -p i-1 Is 0, calculate Δx p Then, the above formula (3) is used for comparison with d-L, and then whether the above formula (1) is established is judged. Let p be the same as the following i -p i-1 1, 2 and 3 … …, and sequentially judging to obtain p i -p i-1 And 2 or less, the description is 2 or less, and the description is not more than 2.
t p The time when the ith intelligent network vehicle in the m vehicles needing lane changing does not transversely collide with the front vehicle running on the original lane is set; t is t p For the solution, let the width of the vehicle be c, let y (t) =c be substituted into the following general solution:
the value of t solved by the above is t p 。
In this example, the standard vehicle width was 1.8m and the length was 4.8m. The safety distance of the vehicle head under the longitudinal control model is 16.6m, namely when the transverse displacement of the vehicle is 1.8m, the longitudinal displacement difference is not more than 11.8m, otherwise, the vehicle head collides with the front vehicle. Assuming that the stable driving speed of the queue is 110km/h, the lane change time is 5s. Let t p The =2.45 s is substituted into the double-quintic lane change trajectory model to obtain the lateral displacement x (t p )＝Δx p =1.8m, vehicles are off-line. Next, Δx is set p Substitution into Deltax p In the calculation formula of (2), p is obtained i -p i-1 ：
i) If p i -p i-1 A safety distance of about 0.6m, no collision, p i -p i-1 The longitudinal position is planned by the value;
ii) if p i -p i-1 If more than 2, collision will occur, the first step is to press p i -p i-1 Track planning is carried out by =2, and after channel change is completedFurther shortening of the pitch is then carried out.
If the interval between two adjacent lane-changing vehicles in the original queue is not more than two vehicles, such as the 2 nd, 5 th and 9 th vehicles in the original queue, the 2 nd and 5 th vehicles belong to the adjacent lane-changing vehicles, and only the 3 rd and 4 th vehicles are arranged between the two vehicles in the original queue, the interval is not more than two, the task of shortening the interval can be directly realized when lane-changing is performed; the 5 th and 9 th vehicles belong to adjacent lane changing vehicles, and the 6 th, 7 th and 8 th vehicles are arranged between the two vehicles in the original queue, and more than two vehicles are arranged, so that track planning is carried out according to the distance between the two vehicles, and the distance is continuously reduced after lane changing is completed.
Step 4-2, overall lane change: and (3) according to the integral lane change parameters calculated in the step (4-1) and the double-five lane change track model, m vehicles needing lane change are synchronously and integrally changed to a target lane from an outer lane.
The form of the existing double-five lane change track model is as follows:
in the formula (1), x (t) and y (t) are respectively the relation between the longitudinal and transverse positions of the lane change vehicle and the lane change time, the time t=0 at the beginning of lane change is taken, the position of the lane change vehicle is taken as an origin, namely, x (t) =0, y (t) =0, the longitudinal running direction of the vehicle is the positive x-axis direction, the transverse lane change direction is the positive y-axis direction, and a coordinate system is established; a, a 5 ，a 4 ，a 3 ，a 2 ，a 1 ，a 0 ，b 5 ，b 4 ，b 3 ，b 2 ，b 2 ，b 0 For 12 coefficients to be solved.
The state matrixes of the vehicle at the beginning and the end of lane change are respectively a and b:
wherein x is 0 ，y 0 ，x d ，y d Longitudinal and lateral displacement of the vehicle at the start and end of a lane change, v 0 And v d Vehicle speed at the beginning and end of lane change, respectively, w is lane width.
The matrices a and b in the two formulas (2) and (3) are changed to obtain the following two matrices.
Let t be d For the time when the lane change process ends, t=0 and t=t, respectively d Substituting into the formula (1) to obtain x 0 ，x d ，y 0 ，y d The expression of (2) is as follows
Will a 5 ，a 4 ，a 3 ，a 2 ，a 1 ，a 0 ，b 5 ，b 4 ，b 3 ，b 2 ，b 1 ，b 0 As an unknown number of the number of times,two six-element one-time equation sets are obtained, and coefficient matrixes A and B are as follows:
solving two six-element once equation sets to obtain:
substituting (12) and (13) into the formula (1) to obtain the general solution of the formula (1):
in the formula, v 0 The speed at the beginning of lane change of the ith intelligent network vehicle in the m vehicles needing lane change is obtained.
The lane width of the expressway is 3.75 meters, the advancing speed of the queue is 110km/h at the initial speed, the new queue is formed and stabilized more quickly after the lane change is considered, the tail speed is 110km/h, and the comfort level of passengers is considered to be 5s at the lane change time. Taking the condition of shortening one head space forwards in longitudinal direction, the head space is 16.67m, and the total displacement is
Namely, the vehicle state matrix is:
substituting and solving to obtain:
y(t)＝0.0072t 5 -0.09t 4 +0.3t 3
the relationship between the longitudinal and transverse displacement of the planned track and time is shown in the formula (unit: meters).
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (6)
1. A multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control is characterized in that: the method comprises the following steps:
step 1, target lane influences vehicle identification: the intelligent network vehicle connection queue is positioned on an outer lane adjacent to the target lane; a manual driving vehicle runs in the target lane; the longitudinal distance between the manual driving vehicle which is positioned in the front of the intelligent network vehicle linkage queue and is closest to the head of the intelligent network vehicle linkage queue in the target lane is D0; the longitudinal distance between the manual driving vehicle which is positioned behind the intelligent network vehicle linkage queue and is closest to the tail of the intelligent network vehicle linkage queue in the target lane is D1;
when D0 is more than or equal to D0, the lane changing vehicle which does not affect the intelligent network vehicle connection queue is considered to be in front of the target lane; d0 is a front lane change safety threshold;
when D1 is more than or equal to D1, the lane changing vehicle behind the target lane is considered to have no influence on the intelligent network vehicle connection queue; d1 is a post-lane change safety threshold;
when D2 is less than or equal to D1 and less than D1, the lane changing vehicle potentially influencing the intelligent network vehicle connection queue is considered to be arranged behind the target lane; wherein d2 is the minimum longitudinal distance that allows lane changing; d2 < d1;
when D1 is smaller than D2, considering that the intelligent network coupling queue at the current moment is not suitable for changing channels, and waiting for the opportunity to enable D1 to be larger than or equal to D2;
step 2, determining a lane change mode: if m vehicles need to be changed in the intelligent network vehicle connection queue are set, the method for determining the lane changing mode comprises the following steps:
A. when D0 is more than or equal to D0 and D1 is more than or equal to D1, jumping to the step 4, and enabling m vehicles needing to be changed in the intelligent network coupling queue to realize synchronous lane changing;
B. when D0 is more than or equal to D0 and D2 is less than or equal to D1 and less than D1, entering a step 3, and enabling the last vehicle at the tail part of m vehicles needing to be changed in the intelligent network vehicle connection queue to be preferably changed; after the last vehicle is changed, entering a step 4, so that the rest m-1 vehicles can be changed integrally at the same time;
step 3, the tail vehicle is preferably changed, and the method specifically comprises the following steps of:
step 3-1, planning lateral acceleration: according to the trapezoidal acceleration model, a change relation curve of the transverse acceleration of the tail vehicle along with time is obtained, and then a change relation curve of the transverse displacement along with time is obtained;
step 3-2, planning longitudinal acceleration: planning the longitudinal acceleration of the tail vehicle by adopting a longitudinal controller; the longitudinal controller controls based on PF communication topology and timing strategy;
step 3-3, changing the tail vehicle channel: the tail vehicle changes from the outside lane to the target lane according to the lateral acceleration planned in the step 3-1 and the longitudinal acceleration planned in the step 3-2;
step 4, overall lane changing, which specifically comprises the following steps:
step 4-1, calculating the whole channel change parameter: the integral channel change parameter comprises integral channel change time t d Speed v of end of track change d And longitudinal lane change displacement x d The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the whole channel changing time t d Determining according to the lane width w; longitudinal lane change displacement x of ith intelligent network vehicle in m lane change required vehicles d The calculation method of (1) is as follows:
A. when i=1, the vehicle is the forefront lane change vehicle in the original queue, and is on the target lane after lane change is completedThe head car of the new queue; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
in the formula, v s The longitudinal speed of the intelligent network train is the longitudinal speed when the intelligent network train is stably driven at the beginning of lane change;
B. when i is not equal to 1, indicating that the vehicle is not the vehicle with the forefront lane change in the original queue, the vehicle is required to be drawn forward in the lane change process, and the distance between the vehicle and the front vehicle on the target lane is shortened, so that a new queue can be formed more quickly when the lane change is finished; thus, it longitudinally changes track displacement x d The calculation formula of (2) is as follows:
wherein p is i The method comprises the steps that the sequence number of an ith intelligent network vehicle in an original intelligent network vehicle queue in m vehicles needing lane changing is given;
p i-1 the method comprises the steps that the sequence numbers of the (i-1) th intelligent network vehicle in the original intelligent network vehicle queue in m vehicles needing lane change are given;
d is the expected head interval of two adjacent vehicles when the new queue is stable, and is a set value;
Δp max the number of the allowed maximum vehicle intervals is the maximum number of the allowed vehicle intervals under the condition that no collision occurs in the lane change process;
step 4-2, overall lane change: and (3) according to the integral lane change parameters calculated in the step (4-1) and the double-five lane change track model, m vehicles needing lane change are synchronously and integrally changed to a target lane from an outer lane.
2. The intelligent network train queue control-based multi-train collaborative lane changing method is characterized in that: in step 1, d 0 The calculation formula of (2) is as follows:
wherein d safe The longitudinal safety distance between the manual driving vehicle and the intelligent network-connected vehicle is known;
t dmax setting a value for the longest time required for emergency correction of the vehicle posture in the lane changing process;
v platoon the running speed of the intelligent network train is calculated;
x limit the shortest braking distance for a front manually driven vehicle, a known value;
a brake the emergency braking speed is queued for the intelligent network vehicle, a known value.
3. The intelligent network train queue control-based multi-train collaborative lane changing method is characterized in that: in step 1, the calculation formulas of d1 and d2 are respectively:
wherein t is pre The time for pre-lighting the steering lamp for the network train queue is set value;
t act the reaction time of the driver for manually driving the vehicle is known;
v humandrive the speed of the vehicle is manually driven;
a comfortable for comfortable braking deceleration of a manually driven vehicle, a value is known.
4. The intelligent network train queue control-based multi-train collaborative lane changing method is characterized in that: the expression of the longitudinal controller is:
wherein:
wherein u is f A longitudinal acceleration controller for a preferably lane change tail vehicle;
k fp ，k fv and k fa The position, the speed and the acceleration feedback gain of the tail vehicle which are preferably changed are set values respectively;
τ f a known value for inertia time lag in the preferred lane change tail vehicle powertrain;
p f ，v f and a f The position, the speed and the acceleration of the tail vehicle of the preferable lane change respectively;
p p ，v p and a p The position, the speed and the acceleration of the nearest intelligent network vehicle in front of the vehicle at the tail of the optimized lane change are respectively;
h f the time interval between the vehicle at the tail of the optimized lane change and the nearest intelligent network vehicle is selected.
5. The intelligent network train queue control-based multi-train collaborative lane changing method is characterized in that: in step 4-1, Δp max Is obtained by the following formula in parallel and solving：
Δp max ＝MAX(p i -p i-1 )
Δx p ＜d-L
Wherein L is the length of the intelligent network vehicle;
Δx p when the ith intelligent network vehicle in the m vehicles needing lane changing transversely deviates out of the queue for one vehicle width, the longitudinal relative displacement of the ith intelligent network vehicle is realized;
t p the time that the ith intelligent network vehicle in the m vehicles needing lane changing does not collide with the front vehicle running on the original lane in the transverse direction is set.
6. The intelligent network train queue control-based multi-train collaborative lane changing method is characterized in that: in the step 4-2, the double-five lane change track model is as follows:
in the formula, v 0 The speed at the beginning of lane change of the ith intelligent network vehicle in the m vehicles needing lane change is obtained.
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