基于车车通信的车辆并行协同自动换道控制

发布时间：2018-08-09 20:12

【摘要】：为研究多车协同自动换道,分析了三车道八车场景中两车协同行为,对两车并行协同行为进行界定,提出了两车并行协同自动换道控制策略。针对三车道八车场景,以车车通信为条件,实时获取周围车辆的运动状态变化和换道意图,根据周围车辆的运动状态,设计了两车协同换道轨迹模型,规划换道车辆的参考协同换道轨迹。在此基础上,提出了并行协同自动换道安全距离模型,以形成换道车辆与周围车辆的换道轨迹约束,保证生成安全可靠的协同换道轨迹。最终根据规划的安全参考轨迹,采用模型预测控制算法,实时优化换道车辆的速度和前轮转角,实现轨迹纵横向跟踪。仿真结果表明,所提出的并行协同控制策略能够实现两车安全协同自动换道,同时提高换道效率。
[Abstract]:In order to study the multi-vehicle collaborative automatic change of track, this paper analyzes the behavior of two vehicles in the three-lane and eight-vehicle scene, defines the parallel cooperative behavior of the two vehicles, and puts forward the control strategy of the two-vehicle parallel cooperative automatic change of track. According to the three-lane and eight-vehicle scene, based on the condition of vehicle-vehicle communication, the change of motion state and change intention of the surrounding vehicle are obtained in real time. According to the moving state of the surrounding vehicle, the model of the track path of the two vehicles is designed. Plan the reference and coordinated track of the changing vehicle. On the basis of this, a parallel cooperative automatic track change safety distance model is proposed to form the track change constraint between the vehicle and the surrounding vehicle, and to ensure the generation of a safe and reliable collaborative track path. Finally, according to the safety reference trajectory of the planning, the model predictive control algorithm is used to optimize the speed and the front wheel angle of the vehicle in real time, so that the track can be tracked in the longitudinal and horizontal direction. The simulation results show that the proposed parallel cooperative control strategy can realize the two vehicles' safe cooperative automatic change of track and improve the efficiency of the change of track at the same time.
【作者单位】：清华大学汽车安全与节能国家重点实验室;北京电动车辆协同创新中心;
【基金】：国家自然科学基金项目(51575295) 国家重点研发计划项目(2016YFB0100900)
【分类号】：U495

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