基于场景划分的智能网联汽车协同换道避障方法

doi:10.19562/j.chinasae.qcgc.2024.05.001

Abstract

Abstract:

In order to solve the problem that the traditional two-vehicle cooperative lane change based on V2V communication has relatively low success rate and cannot guarantee the optimality of traffic efficiency when the condition of front traffic and surrounding vehicles is inaccurate or unknown， an ICV two stage cooperative obstacle-avoidance lane change method based on scene division is proposed in this paper. Firstly， the lane changing process is divided into longitudinal space adjustment stage and lateral lane changing stage， and quartic polynomial and quintic polynomial are used to describe the ICV trajectory of the two stages respectively. Then， four scenarios are designed based on the relative position of the vehicles when the longitudinal space adjustment ends， and a lane change model is designed with the vehicle’s final adjusted speed， distance， and lane change time as the objective functions to ensure the success rate of the lane change while reducing the impact of lane change behavior to the traffic flow. Finally， in order to verify the effectiveness of the algorithm， feasible working conditions are designed in the four scenarios. Through analyzing velocity-time and distance-time relationship diagrams of the spacing adjustment process， it is proved that the spacing adjustment process satisfies the safety constraints. In addition， by calculating the boundary value of the lane-changing obstacle avoidance algorithm by traversing the scenarios， it is illustrated that there exists a correlation between the ICV lane change obstacle avoidance success rate and the distance between vehicles and the distance between vehicles and obstacles.

Key words: intelligent and connected vehicles, obstacle avoidance lane change, trajectory planning, boundary analysis

Junyu Zhou,Keqiang Li,Hanxiao Ren,Jie Yu,Yugong Luo. A Cooperative Obstacle Avoidance Lane Change Strategy for Intelligent and Connected Vehicles Based on Scene Division[J].Automotive Engineering, 2024, 46(5): 745-753.

Figures/Tables 16

$α$	$β$	$s s t o p$ /m	$s g o$ /m	$v m a x$ /（m·s^-1）
0.6	0.9	5	10	15

参数	含义	数值
$t l c$ /s	横向换道时间	6
$ε$ /m	车辆最大安全间距	5
$δ$ /m	车辆与障碍物安全距离缓冲量	0
$w$	优化目标权重系数	0.3
$a m i n$ /（m·s^-2）	最小加速度	-4
$a m a x$ /（m·s^-2）	最大加速度	4
$j m i n$ /（m·s^-3）	最小加加速度	-2
$j m a x$ /（m·s^-3）	最大加加速度	2
$w r o a d$ /m	道路宽度	3.5
$t s t e p$ /s	仿真步长	0.1

序号	$x C 1$	$x C 2$	$x H 2$	$x o b s$	$v L 1$	$v L 2$
1	0	-20	-60	150	12	12
2	0	-35	-40	150	12	15
3	-10	-30	-20	150	12	15
4	-15	-20	-40	150	10	12

场景	$x C 1 H 1$	$x C 2 H 2$	$x C 1 C 2$	$x C 1 - o b s$
1	［0 m，10 m］， 10	［-20 m，0 m］， 10		［80 m，150 m］， 10
2	［0 m，10 m］， 5	［0 m，10 m］， 5	［30 m， 40 m］， 4	［80 m，150 m］， 10
3	［30 m，50 m］，50			［80 m，150 m］， 20
4	［0 m，20 m］， 10		［0 m，20 m］， 10	［80 m，150 m］， 10

指标	SD-CLC	V2V-CLC	改善
$a m i n / (m · s - 2)$	1.18	1.66	40.7%
$v m e a n / (m · s - 1)$	13.09	11.51	13.7%

References 14

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A Cooperative Obstacle Avoidance Lane Change Strategy for Intelligent and Connected Vehicles Based on Scene Division

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序号	$x C 1$	$x C 2$	$x H 2$	$x o b s$	$v L 1$	$v L 2$
1	0	-20	-60	150	12	12
2	0	-35	-40	150	12	15
3	-10	-30	-20	150	12	15
4	-15	-20	-40	150	10	12

序号	$x C 1$	$x C 2$	$x H 2$	$x o b s$	$v L 1$	$v L 2$
1	0	-20	-60	150	12	12
2	0	-35	-40	150	12	15
3	-10	-30	-20	150	12	15
4	-15	-20	-40	150	10	12

序号	$x C 1$	$x C 2$	$x H 2$	$x o b s$	$v L 1$	$v L 2$
1	0	-20	-60	150	12	12
2	0	-35	-40	150	12	15
3	-10	-30	-20	150	12	15
4	-15	-20	-40	150	10	12