CN106991846B - Highway vehicle forced lane changing control method under Internet of vehicles environment - Google Patents
Highway vehicle forced lane changing control method under Internet of vehicles environment Download PDFInfo
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Abstract
The invention discloses a forced lane changing control method for vehicles on a highway under an Internet of vehicles environment. The method comprises the following steps: in the vehicle networking environment, the running information of the surrounding vehicles is obtained through vehicle-vehicle communication, when a certain vehicle has a forced lane changing requirement, the vehicle sends a request to the nearby vehicle to obtain the information of the positions, the speeds and the like of other vehicles, different states of the lane changing vehicle and other related vehicles are analyzed, the forced lane changing behavior of the lane changing vehicle is controlled based on the different states of the lane changing vehicle and the surrounding vehicles, and the safe and efficient implementation of the forced lane changing behavior is realized. The invention 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 forced lane changing behaviors of the vehicles based on the states, and ensures the safe and efficient implementation of the forced lane changing behaviors.
Description
The technical field is as follows:
the invention relates to a vehicle cooperative driving control method, in particular to a 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 the intelligent networking automobile, the Ministry of industry and correspondence divides the intelligent networking automobile into four development stages in an intelligent networking automobile technical route map issued by the Ministry of industry and correspondence: the first stage is driving assistance, including adaptive navigation, automatic emergency braking, lane keeping, auxiliary parking and the like; the second stage is partial automatic driving, including automatic driving in lanes, lane change assistance, full-automatic parking and the like; the third stage is conditional automatic driving, including automatic driving of highways, automatic driving of suburbs, cooperative queue driving, intersection passing assistance and the like; the fourth stage is full automatic driving, including cooperative vehicle control, city automatic driving, unmanned driving, etc. The invention is based on the third stage of development of autonomous driving, namely conditional autonomous driving, taking into account that in motorways, vehicles communicate in real time with other vehicles within communication range in a wireless communication manner (e.g. LTE-V, Wi-Fi, bluetooth, DSRC, etc.), most vehicles travelling in coordination in a queue.
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 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 forced lane changing behaviors of the vehicles based on the states, and ensures the safe and efficient implementation of the forced lane changing behaviors.
The above purpose is realized by the following technical scheme:
a forced lane changing control method for vehicles on a highway under the environment of Internet of vehicles comprises the following steps:
in the vehicle networking environment, the running information of the surrounding vehicles is obtained through vehicle-vehicle communication, when a certain vehicle has a forced lane changing requirement, the vehicle sends a request to the nearby vehicle to obtain the information of the positions, the speeds and the like of other vehicles, different states of the lane changing vehicle and other related vehicles are analyzed, the forced lane changing behavior of the lane changing vehicle is controlled based on the different states of the lane changing vehicle and the surrounding vehicles, and the safe and efficient implementation of the forced lane changing behavior is realized.
The method for controlling forced lane changing of the vehicles on the expressway under the Internet of vehicles environment comprises the following steps of: the vehicle running on the expressway realizes vehicle-vehicle communication and real-time data exchange with surrounding vehicles in a communication range in a wireless communication mode, the content of the data exchange comprises vehicle position, running 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 belt of the expressway, the vehicle running on the expressway needs to strictly follow traffic rules, and the traffic rules comprise 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 method for controlling forced lane changing of the vehicles on the highway in the Internet of vehicles environment comprises but is not limited to the following steps:
a) the number of lanes is reduced as the current lane is merged to other lanes in front;
b) the front part of the road is provided with a shunting ramp, such as an interchange or an exit ramp, and the correct route needs to be selected for changing the road;
c) the current lane is not available in the front due to accidents and the like;
d) and the rear special vehicle requests to overtake and needs to clear the current lane.
The different states of the lane changing vehicles and other related vehicles comprise four states of no other vehicles on a side road, no front vehicle and no rear vehicle on the side road, no front vehicle and a rear vehicle on the side road, and the front vehicle on the side road is the vehicle which is positioned in front of the lane changing vehicle and is closest to the current vehicle; the fact that the rear vehicle on the side road is defined as the vehicle which is at the rear of the lane changing vehicle and is closest to the current vehicle on the side road in the longitudinal position is represented by v and x respectively representing the speed and the longitudinal position of the lane changing vehicle, and vSide and front、xSide and frontRespectively representing the speed, longitudinal position, v, of a vehicle ahead of the side roadSide and back、xSide and backRespectively representing the speed and longitudinal position of the vehicle behind the side road, v in the initial stateSide and front＝vSide and back。
The method for controlling the forced lane change of the vehicles on the expressway under the Internet of vehicles environment comprises the following steps:
if no other vehicles are on the side road, directly changing the road;
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 vehicle speed is greater than or equal to the change of lane speed and the safe spacing condition has been met, vSide and frontX is not less than vSide and front-x≥hsafeIf so, immediately changing the channel;
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) Reaching a safe distance with the front vehicle of the side road.
If condition b) is satisfied first, i.e. at xSide and front′-x′＝hsafeWhen the lane is changed, the vehicle stopsStopping deceleration and executing lane change; 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 preceding vehicle is less than the speed of the lane-change vehicle, i.e. vSide and front<v, then the lane-changing vehicle is decelerated at the maximum deceleration adIs decelerated to vSide and frontJudging that the two vehicles are in the initial state of the front vehicle but not the rear vehicle after the two vehicles are equal in speed, judging the lane changing condition again and executing control according to a corresponding method;
if the side road has no front vehicle and has a rear vehicle, judging the states of the rear vehicle and the side road:
① rear speed is less than or equal to the speed of the lane change vehicle and the safe spacing condition has been met, vSide and backV and x-x are not more thanSide and back≥hsafeIf so, the lane change vehicle immediately executes lane change;
② if the condition in ① is not met, i.e. the lane change cannot be performed immediately, the lane change vehicle is driven at the maximum acceleration aaAccelerating, and accelerating the other vehicles behind the rear vehicle in the byway and the byway fleet at the maximum deceleration adThe speed is reduced, and the safe distance between the lane-changing vehicle and the side lane rear vehicle is reached, namely x' -xSide and back′＝hsafeWhen the lane changing vehicle is in the lane changing state, the lane changing vehicle executes lane changing, and if the lane changing vehicle reaches the highest speed limit v of the expressway before the safe distance is reachedmaxIf so, the lane-changing vehicle stops accelerating and keeps vmaxCompleting the lane change; if the other vehicles behind the rear vehicle on the side road and the rear vehicle in the side road fleet reach the lowest speed limit v of the expresswayminIf so, the lane-changing vehicle stops decelerating and keeps vminAfter the lane change is finished and the lane change action is finished, the other vehicles behind the back vehicle in the side lane and the back vehicle in the side lane fleet are accelerated at the maximum acceleration aaAccelerate to vSide and backThe lane-changing vehicle can keep vmaxThe speed can also be adjusted to be not less than vSide and backA certain speed of;
3) the side road is provided with a front vehicle and a rear vehicle, and the states of the side road vehicles and the side road vehicles are judged:
① if xSide and front-x≥hsafeAnd v isSide and frontIf the acceleration is more than or equal to v, the lane changing vehicle is accelerated at the maximum acceleration aaAccelerate to vSide and frontIn the process, the distance between the lane changing vehicle and the front vehicle on the side lane is not less than h all the timesafeAnd are increasing. After the other vehicles behind the rear vehicle on the side road and the rear vehicle in the side road fleet receive the lane change request, the maximum deceleration a is starteddDecelerating until the lane-changing vehicle reaches a safe distance with the vehicle behind the side lane, namely at x' -xSide and back′≥hsafeStopping decelerating and executing lane change;
② if xSide and front-x≥hsafeAnd v isSide and front<v, the lane-changing vehicle, the side road rear vehicle and other vehicles behind the rear vehicle in the side road fleet all have the maximum deceleration adDecelerating until the speed of the lane-changing vehicle is equal to the speed of the front vehicle on the side road, namely v ═ vSide wallJudging 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;
③ if xSide and front-x<hsafeThen the lane-changing vehicle, the side road rear vehicle and other vehicles behind the rear vehicle in the side road fleet are simultaneously at the maximum deceleration adAnd decelerating until the following two conditions are met simultaneously:
a) the distance between the lane-changing vehicle and the front side lane reaches the safe distance hsafe，
b) The speed of the lane-changing vehicle is not more than the speed of the front vehicle on the side road,
if the other vehicles behind the lane-changing vehicle or the side-lane rear vehicle and the rear vehicle in the side-lane fleet reach the lowest speed limit v of the expressway before the two conditions are metminIf the distance between the lane changing vehicle and the lane changing rear vehicle meets the safety distance and the speed of the lane changing vehicle is less than that of the lane changing rear vehicle, namely x' -xSide and back′≥hsafeAnd v-a2t1<vSide wall-a2t1The lane-change vehicle continues at the maximum deceleration adDecelerating, and accelerating the other vehicles behind the back vehicle in the byway and the back vehicle in the byway fleet at the maximum acceleration aaAccelerating until the speeds are equal, stopping accelerating/decelerating, performing lane change by the lane change vehicle, and simultaneously performing the lane change by the lane change vehicle, the other vehicles behind the lane rear vehicle and the rear vehicle in the lane fleet at the maximum acceleration aaAccelerate to vSide wall(ii) a If the distance between the lane changing vehicle and the side road rear vehicle meets the safety distance and the speed of the lane changing vehicle is more than or equal to that of the side road rear vehicle, namely x' -xSide and back′≥hsafeAnd v-a2t1≥vSide wall-a2t1The lane changing vehicle immediately executes lane changing, and the lane changing vehicle, the side-lane rear vehicle and other vehicles behind the rear vehicle in the side-lane fleet are subjected to the maximum acceleration a after the lane changing behavior is executedaAccelerate to vSide wall。
Has the advantages that:
compared with the prior art, the invention has the advantages 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 the vehicles must change lanes as soon as possible due to special traffic conditions, so that the vehicles can change lanes quickly and can ensure the rapidness and the safety of lane changing, and the influence on other vehicles is reduced to the maximum extent on the basis.
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 view of an embodiment with a front vehicle but without a rear vehicle; FIG. 3(c) is a view of an embodiment without a front vehicle but with a rear vehicle; fig. 3(d) is a view showing an embodiment in which a front vehicle and a rear vehicle are provided.
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 the state information of the vehicles 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 forced lane change organization control in an Internet of vehicles environment. Consider the scenario of an embodiment of a two-lane highway scenario shown in fig. 2, where vehicle 1 is a vehicle requiring a lane change and there is an area in front of it where the vehicle must change lanes before reaching the area. There may be a queue of vehicles in the vicinity of the lane to be changed (vehicles 2, 3, 4, 5 in the figure, and vehicle 5 is the last vehicle on the side track fleet). At a speed v of the vehicle 11Driving, vehicle formation on adjacent lanes by v2And (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 1-5 can exchange data in real time without obstacles, and the data exchange contents comprise vehicle positions, running speeds,Acceleration, vehicle driving behavior (e.g., lane change, following), etc. 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 2-5 run following in a fleet form, the vehicles in the fleet are equal in speed and travel cooperatively at the same speed through the vehicle network, and the distance between the heads of the vehicles is not less than the safety distance.
2) When the vehicle 1 has a forced lane change request, the vehicle 1 sends a request to nearby vehicles to acquire information such as vehicle position and speed. Forced zapping includes, but is not limited to:
a) the number of lanes is reduced as the current lane is merged to other lanes in front;
a) the front part of the road is provided with a shunting ramp, such as an interchange or an exit ramp, and the correct route needs to be selected for changing the road;
b) the current lane is not available in the front due to accidents and the like;
c) and the rear special vehicle requests to overtake and needs to clear the current lane.
3) Judging according to different traffic states in the vehicle communication range, if no vehicle exists on the side road, namely, no vehicles 2-5 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 but no rear vehicle, namely, only vehicles 2 and 3 but no vehicles 4 and 5 exist within 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 5 and 5 but no vehicles 2 and 3 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 2-5 exist in the range of 300 meters in front and rear, the step 3-3) is carried out. The vehicle 3 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 4 is a vehicle that is located behind the vehicle 1 in the longitudinal direction on the side road and is closest to the vehicle 1, i.e., a vehicle behind the side road.
3-1) as in fig. 3(b), only the vehicles 2, 3 but not the vehicles 4, 5, the states of the vehicle 1 and the vehicle 3 are determined:
① if v2≥v1And x3-x1≥hsafeIf so, immediately changing the channel;
② if v2≥v1And x3-x1<hsafeThe vehicle 1 is then decelerated at maximum deceleration adDeceleration is performed, and the vehicle 1 stops decelerating when one of the following conditions is reached:
a) 1 vehicle reaching the lowest speed limit v of the highwaymin；
b) Reaching a safe distance with the front vehicle of the side road.
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 v2。
③v2<v1The vehicle 1 is then decelerated at maximum deceleration adIs decelerated to v2. In decelerating the vehicle 1 to v2Thereafter, step 3-1) is re-executed.
3-2) as in fig. 3(c), only the vehicles 4, 5 but not the vehicles 2, 3, the states of the vehicles 1, 4 are determined:
① if v2≤v1And x1-x4≥hsafeThe vehicle 1 immediately performs lane change;
② if the condition in ① is not met, i.e. a lane change cannot be performed immediately, the vehicles 4, 5 are at maximum deceleration adIs decelerated to reach a safe distance, x, between the vehicle 1 and the vehicle 41′-x4′＝hsafeAt this time, the vehicle 1 performs lane change. Before reaching the safe distance, if the vehicle 1 reaches the highest speed limit v of the expresswaymaxThen the vehicle 1 stops accelerating, and v is maintainedmaxCompleting the lane change; if the vehicles 4, 5 reach the lowest speed limit v of the expresswayminThen the vehicle 1 stops decelerating and v is maintainedminAnd finishing the channel change. After the lane change action is performed, the vehicles 4, 5 are accelerated at the maximum acceleration aaAccelerating to the original speed, the vehicle 1 can maintain vmaxThe speed can also be adjusted to be not less than vSide and backA certain speed of the motor.
3-3) As shown in FIG. 3(d), when there is a vehicle 2-5, the vehicles 4, 5 are required to make a certain reaction, so as to realize timely and safe lane change. First, a determination is made based on the distance and speed between the vehicle 1 and the vehicle 3.
① if x3-x1≥hsafeAnd v is3≥v1The vehicle 1 is then accelerated at a maximum acceleration aaAccelerate to v3In the process, the distance between the current vehicle and the front vehicle on the side road is not less than h all the timesafeAnd are increasing. When the vehicles 4 and 5 receive the lane change request, they start to execute the maximum deceleration adThe deceleration is carried out until the vehicle 1 reaches a safe distance from the vehicle 4, i.e. at x1′-x4′≥hsafeStopping decelerating and executing lane changing;
② if x3-x1≥hsafeAnd v is2<v1The vehicles 1, 4, 5 are all at maximum deceleration adDecelerating until the speed of the vehicle 1 equals the speed of the vehicle 3, i.e. v1′＝v2Re-executing step 3-3);
③ if x3-x1<hsafeProceed to step 3-4).
3-4) if x3-x1<hsafeThe vehicles 1, 4, 5 are then simultaneously at maximum deceleration adAnd decelerating until the following two conditions are met simultaneously:
a) the distance between the vehicle 1 and the vehicle 3 reaches a safe distance hsafe；
b) The vehicle 1 speed is not greater than the vehicle 3 speed.
If the vehicle 1 or the vehicles 4, 5 reaches the lowest speed limit v of the expressway before the above two conditions are metminThen the vehicle that reached the lowest speed limit stops decelerating and maintains the speed, and the other vehicles continue to perform deceleration. When the two conditions a) and b) are satisfied, the speed and distance between the vehicle 1 and the vehicle 4 are determined. If the distance between the vehicle 1 and the vehicle 4 meets the safety distance and the speed of the vehicle 1 is smaller than that of the vehicle4, i.e. x1′-x4′≥hsafeAnd v is1-a2t1<v2-a2t1The vehicle 1 continues at the maximum deceleration adIs decelerated while the vehicles 4, 5 are accelerated at a maximum acceleration aaAccelerating until the speeds are equal, stopping accelerating/decelerating, executing lane change by the vehicle 1, and executing the lane change action after the lane change action is finished, and simultaneously executing the vehicles 1, 4 and 5 at the maximum acceleration aaAccelerate to v2(ii) a If the distance between the vehicle 1 and the vehicle 4 satisfies the safety distance and the speed of the vehicle 1 is greater than or equal to the speed of the vehicle 4, x1′-x4′≥hsafeAnd v is1-a2t1≥v2-a2t1The vehicle 1 immediately executes the lane change, and the vehicles 1, 4 and 5 perform the lane change at the maximum acceleration a after the lane change is finishedaAccelerate to v2。
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 forced lane changing control method for vehicles on a highway under the environment of Internet of vehicles is characterized by comprising the following steps:
the method comprises the steps that under the environment of an internet of vehicles, running information of surrounding vehicles is obtained through vehicle-to-vehicle communication, when a certain vehicle has a forced lane changing requirement, the vehicle sends a request to a nearby vehicle to obtain position and speed information of other vehicles, different states of the lane changing vehicle and other related vehicles are analyzed, the forced lane changing behavior of the lane changing vehicle is controlled based on the different states of the lane changing vehicle and the surrounding vehicles, and the safe and efficient implementation of the forced lane changing behavior is realized;
the method for acquiring the running information of the surrounding vehicleThe method comprises the following steps: the vehicle running on the expressway realizes vehicle-vehicle communication and real-time data exchange with surrounding vehicles in a communication range in a wireless communication mode, the content of the data exchange comprises vehicle position, running 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 belt of the expressway, the vehicle running on the expressway needs to strictly follow traffic rules, and the traffic rules comprise the highest speed limit v of the expresswaymaxMinimum speed limit vminMaximum acceleration aaMaximum deceleration adMinimum safety interval hsafeWhen the vehicles run following the train in the form of a fleet, the speeds of the vehicles in the fleet are equal, the vehicles run cooperatively at the same speed through the vehicle-to-vehicle network, and the distance between the heads of the vehicles in the queue is not less than the safety distance;
the forced lane change includes but is not limited to:
a) the number of lanes is reduced as the current lane is merged to other lanes in front;
b) a diversion ramp exists in front of the road, including interchange or exit ramps, and a correct route needs to be selected for lane changing;
c) the current lane is not available in front due to accidents;
d) the rear special vehicle requests to overtake and needs to clear the current lane;
the different states of the lane changing vehicle and other related vehicles comprise four states of no other vehicle on the lane, no front vehicle and no rear vehicle on the lane, no front vehicle and rear vehicle on the lane and front vehicle and rear vehicle on the lane, wherein the front vehicle on the lane means the vehicle which is positioned in front of the lane changing vehicle and is closest to the current vehicle on the lane in the longitudinal direction; the fact that the rear vehicle on the side road is defined as the vehicle which is at the rear of the lane changing vehicle and is closest to the current vehicle on the side road in the longitudinal position is represented by v and x respectively representing the speed and the longitudinal position of the lane changing vehicle, and vSide and front、xSide and frontRespectively representing the speed, longitudinal position, v, of a vehicle ahead of the side roadSide and back、xSide and backRespectively representing the speed and longitudinal position of the vehicle behind the side road, v in the initial stateSide and front＝vSide and back；
The method for controlling the forced lane changing behavior of the lane changing vehicle comprises the following steps:
if no other vehicles are on the side road, directly changing the road;
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 vehicle speed is greater than or equal to the change of lane speed and the safe spacing condition has been met, vSide and frontX is not less than vSide and front-x≥hsafeIf so, immediately changing the channel;
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) Reaching a safe distance with a front vehicle on the side road;
if condition b) is satisfied first, i.e. at xSide 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 preceding vehicle is less than the speed of the lane-change vehicle, i.e. vSide and front< v, the lane-changing vehicle is decelerated at maximum adIs decelerated to vSide and frontJudging that the two vehicles are in the initial state of the front vehicle but not the rear vehicle after the two vehicles are equal in speed, judging the lane changing condition again and executing control according to a corresponding method;
if the side road has no front vehicle and has a rear vehicle, judging the states of the rear vehicle and the side road:
① rear speed is less than or equal to the speed of the lane change vehicle and the safe spacing condition has been met, vSide and backV and x-x are not more thanSide and back≥hsafeIf so, the lane change vehicle immediately executes lane change;
② if the condition in ① is not met, i.e. the lane change cannot be performed immediately, the lane change vehicle is driven at the maximum acceleration aaAccelerating, and accelerating the other vehicles behind the rear vehicle in the byway and the byway fleet at the maximum deceleration adThe speed is reduced, and the safe distance between the lane-changing vehicle and the side lane rear vehicle is reached, namely x' -xSide and back′＝hsafeWhen the lane changing vehicle is in the lane changing state, the lane changing vehicle executes lane changing, and if the lane changing vehicle reaches the highest speed limit v of the expressway before the safe distance is reachedmaxIf so, the lane-changing vehicle stops accelerating and keeps vmaxCompleting the lane change; if the other vehicles behind the rear vehicle on the side road and the rear vehicle in the side road fleet reach the lowest speed limit v of the expresswayminIf so, the lane-changing vehicle stops decelerating and keeps vminAfter the lane change is finished and the lane change action is finished, the other vehicles behind the back vehicle in the side lane and the back vehicle in the side lane fleet are accelerated at the maximum acceleration aaAccelerate to vSide and backThe lane-changing vehicle can keep vmaxThe speed can also be adjusted to be not less than vSide and backA certain speed of;
the side road is provided with a front vehicle and a rear vehicle, and the states of the side road vehicles and the side road vehicles are judged:
① if xSide and front-x≥hsafeAnd v isSide and frontIf the acceleration is more than or equal to v, the lane changing vehicle is accelerated at the maximum acceleration aaAccelerate to vSide and frontIn the process, the distance between the lane changing vehicle and the front vehicle on the side lane is not less than h all the timesafeAnd continuously increases, and after the side road rear vehicle and other vehicles behind the rear vehicle in the side road vehicle team receive the lane changing request, the maximum deceleration a is starteddDecelerating until the lane-changing vehicle reaches a safe distance with the vehicle behind the side lane, namely at x' -xSide and back′≥hsafeStopping decelerating and executing lane change;
② if xSide and front-x≥hsafeAnd v isSide and frontIf v, the lane-changing vehicle, the side-road rear vehicle and other vehicles behind the rear vehicle in the side-road fleet all have the maximum deceleration adDecelerating until the speed of the lane-changing vehicle is equal to the speed of the front vehicle on the side road, namely v ═ vSide wallConsidered as having the initial of the front vehicle and the rear vehicleJudging the lane changing condition again and executing control according to a corresponding method;
③ if xSide and front-x＜hsafeThen the lane-changing vehicle, the side road rear vehicle and other vehicles behind the rear vehicle in the side road fleet are simultaneously at the maximum deceleration adAnd decelerating until the following two conditions are met simultaneously:
a) the distance between the lane-changing vehicle and the front side lane reaches the safe distance hsafe，
b) The speed of the lane-changing vehicle is not more than the speed of the front vehicle on the side road,
if the other vehicles behind the lane-changing vehicle or the side-lane rear vehicle and the rear vehicle in the side-lane fleet reach the lowest speed limit v of the expressway before the two conditions are metminIf the distance between the lane changing vehicle and the lane changing rear vehicle meets the safety distance and the speed of the lane changing vehicle is less than that of the lane changing rear vehicle, namely x' -xSide and back′≥hsafeAnd v-a2t1＜vSide wall-a2t1The lane-change vehicle continues at the maximum deceleration adDecelerating, and accelerating the other vehicles behind the back vehicle in the byway and the back vehicle in the byway fleet at the maximum acceleration aaAccelerating until the speeds are equal, stopping accelerating/decelerating, performing lane change by the lane change vehicle, and simultaneously performing the lane change by the lane change vehicle, the other vehicles behind the lane rear vehicle and the rear vehicle in the lane fleet at the maximum acceleration aaAccelerate to vSide wall(ii) a If the distance between the lane changing vehicle and the side road rear vehicle meets the safety distance and the speed of the lane changing vehicle is more than or equal to that of the side road rear vehicle, namely x' -xSide and back′≥hsafeAnd v-a2t1≥vSide wall-a2t1The lane changing vehicle immediately executes lane changing, and the lane changing vehicle, the side-lane rear vehicle and other vehicles behind the rear vehicle in the side-lane fleet are subjected to the maximum acceleration a after the lane changing behavior is executedaAccelerate to vSide wall。
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| CN108983771A (en) * | 2018-07-03 | 2018-12-11 | 天津英创汇智汽车技术有限公司 | Vehicle lane-changing decision-making technique and device |
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