技术领域Technical Field
本发明涉及智能交通控制领域，特别是一种基于智能网联车队列控制的多车协同换道方法。The present invention relates to the field of intelligent traffic control, and in particular to a multi-vehicle coordinated lane changing method based on intelligent connected vehicle queue control.
背景技术Background Art
现如今我国交通基础设施建设硕果累累，道路硬件的发展已经相当完善。如何提高已有道路的通行能力和安全水平成了交通发展的关键。智能网联汽车配备有传感设备，同时通过V2V通信获取附近的车辆信息，从而能精确感知并快速响应实时交通变化，在缓解拥堵和减少交通事故上有很好的效果。多辆行驶路径相似的智能网联车可以组成队列，以一致的速度和较小的间距行进，从而可以提升安全、提高道路通行能力。在队列形成、解散以及行驶过程中，主要有跟驰和换道两种行为。不合理的换道行为往往会导致事故和拥堵，是降低道路通行效率和造成不安全因素的主要原因之一。利用智能网联车技术在队列内通过多车协同的方法实现换道，可以有效的提升换道行为的安全和效率，减少交通事故的发生，提高道路的通行能力。Nowadays, my country's transportation infrastructure construction has achieved fruitful results, and the development of road hardware has been quite complete. How to improve the capacity and safety level of existing roads has become the key to transportation development. Intelligent connected vehicles are equipped with sensor equipment, and obtain nearby vehicle information through V2V communication, so that they can accurately perceive and quickly respond to real-time traffic changes, which has a good effect on alleviating congestion and reducing traffic accidents. Multiple intelligent connected vehicles with similar driving paths can form a queue and travel at a consistent speed and a small spacing, which can improve safety and improve road capacity. In the process of queue formation, dissolution and driving, there are mainly two behaviors: following and lane changing. Unreasonable lane changing behavior often leads to accidents and congestion, which is one of the main reasons for reducing road traffic efficiency and causing unsafe factors. Using intelligent connected vehicle technology to achieve lane changing in a queue through multi-vehicle collaboration can effectively improve the safety and efficiency of lane changing behavior, reduce the occurrence of traffic accidents, and improve road capacity.
发明内容Summary of the invention
本发明要解决的技术问题是针对上述现有技术的不足，而提供一种基于智能网联车队列控制的多车协同换道方法，该基于智能网联车队列控制的多车协同换道方法以队列内车辆速度、加速度和位置信息为基础，通过对目标车道后方人工驾驶车辆的状态进行分析，选取合理的方式规划换道轨迹，完成多车协同换道过程，并通过预先规划车辆纵向位置帮助缩短新队列的形成时间，为智能网联车队列多车协同换道提供一种安全高效的方法。The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to provide a multi-vehicle cooperative lane changing method based on intelligent connected vehicle queue control. The multi-vehicle cooperative lane changing method based on intelligent connected vehicle queue control is based on the vehicle speed, acceleration and position information in the queue. By analyzing the state of the manually driven vehicle behind the target lane, a reasonable method is selected to plan the lane changing trajectory, and the multi-vehicle cooperative lane changing process is completed. The pre-planning of the longitudinal position of the vehicle helps to shorten the formation time of the new queue, thereby providing a safe and efficient method for multi-vehicle cooperative lane changing in an intelligent connected vehicle queue.
为解决上述技术问题，本发明采用的技术方案是：In order to solve the above technical problems, the technical solution adopted by the present invention is:
一种基于智能网联车队列控制的多车协同换道方法，包括如下步骤。A multi-vehicle coordinated lane changing method based on intelligent connected vehicle platoon control comprises the following steps.
步骤1、目标车道影响车辆识别：智能网联车队列位于与目标车道相邻的外侧车道；目标车道内行驶有人工驾驶车辆；目标车道内位于智能网联车队列前方距离最近的人工驾驶车与智能网联车队列头部的纵向间距为D0；目标车道内位于智能网联车队列后方距离最近的人工驾驶车与智能网联车队列尾部的纵向间距为D1。Step 1. The target lane affects vehicle identification: the intelligent connected vehicle queue is located in the outer lane adjacent to the target lane; there is a manually driven vehicle in the target lane; the longitudinal distance between the closest manually driven vehicle in front of the intelligent connected vehicle queue in the target lane and the head of the intelligent connected vehicle queue is D0; the longitudinal distance between the closest manually driven vehicle in the rear of the intelligent connected vehicle queue in the target lane and the tail of the intelligent connected vehicle queue is D1.
当D0≥d0时，认为目标车道前方无影响智能网联车队列的换道车辆；d0为前换道安全阈值。When D0≥d0, it is considered that there is no lane-changing vehicle in front of the target lane that will affect the intelligent connected vehicle queue; d0 is the front lane-changing safety threshold.
当D1≥d1时，认为目标车道后方无影响智能网联车队列的换道车辆；d1为后换道安全阈值。When D1≥d1, it is considered that there is no lane-changing vehicle behind the target lane that will affect the intelligent connected vehicle queue; d1 is the rear lane-changing safety threshold.
当d2≤D1＜d1时，认为目标车道后方具有潜在影响智能网联车队列的换道车辆；其中，d2为允许换道的最小纵向间距；d2＜d1。When d2≤D1＜d1, it is considered that there is a lane-changing vehicle behind the target lane that has the potential to affect the intelligent connected vehicle queue; where d2 is the minimum longitudinal spacing allowed for lane changing; d2＜d1.
当D1＜d2时，认为当前时刻智能网联车队列不适宜换道，需等待时机使D1≥d2。When D1＜d2, it is considered that the intelligent connected vehicle queue is not suitable for lane changing at the current moment, and it is necessary to wait for the opportunity to make D1≥d2.
步骤2、确定换道方式：设智能网联车队列中需换道车辆为m辆，则换道方式的确定方法为：Step 2: Determine the lane-changing method: Assume that there are m vehicles in the intelligent connected vehicle queue that need to change lanes. The method for determining the lane-changing method is:
A、当D0≥d0且D1≥d1时，跳转至步骤4，使智能网联车队列中需换道的m辆车实现同步换道。A. When D0≥d0 and D1≥d1, jump to step 4 to enable the m vehicles in the intelligent connected vehicle queue that need to change lanes to achieve synchronous lane change.
B、当D0≥d0且d2≤D1＜d1时，进入步骤3，使智能网联车队列中需换道m辆车中尾部的最后一辆车优选换道；当最后一辆车换道完成后，进入步骤4，使剩余m-1辆车实现同时整体换道。B. When D0≥d0 and d2≤D1＜d1, go to step 3 to make the last car at the tail end of the m cars that need to change lanes in the intelligent connected car queue change lanes first; when the last car completes the lane change, go to step 4 to make the remaining m-1 cars change lanes at the same time.
步骤3、尾部车辆优选换道，具体包括如下步骤：Step 3: The rear vehicle preferably changes lanes, specifically including the following steps:
步骤3-1、规划横向加速度：根据梯形加速度模型，得到队尾车辆的横向加速度随时间的变化关系曲线，进而得到横向位移随时间的变化关系曲线。Step 3-1, planning lateral acceleration: According to the trapezoidal acceleration model, obtain the relationship curve of the lateral acceleration of the rear vehicle of the team with time, and then obtain the relationship curve of the lateral displacement with time.
步骤3-2、规划纵向加速度：采用纵向控制器对尾部车辆的纵向加速度进行规划；其中，纵向控制器基于PF通讯拓扑和定时距策略进行控制。Step 3-2, planning the longitudinal acceleration: using a longitudinal controller to plan the longitudinal acceleration of the rear vehicle; wherein the longitudinal controller is controlled based on the PF communication topology and the timing distance strategy.
步骤3-3、尾部车辆换道：尾部车辆根据步骤3-1规划的横向加速度，以及步骤3-2规划的纵向加速度，从外侧车道换至目标车道。Step 3-3, rear vehicle lane change: The rear vehicle changes lanes from the outer lane to the target lane according to the lateral acceleration planned in step 3-1 and the longitudinal acceleration planned in step 3-2.
步骤4、整体换道，具体包括如下步骤：Step 4: overall lane change, specifically including the following steps:
步骤4-1、计算整体换道参数：整体换道参数包括整体换道时间td、换道结束速度vd和纵向换道位移xd；其中，整体换道时间td根据车道宽速w进行确定；m辆需换道车辆中第i辆智能网联车的纵向换道位移xd的计算方法为：Step 4-1, calculate the overall lane-changing parameters: the overall lane-changing parameters include the overall lane-changing time td , the lane-changing end speed vd and the longitudinal lane-changing displacement xd ; wherein the overall lane-changing time td is determined according to the lane width speed w; the longitudinal lane-changing displacement xd of the i-th intelligent connected vehicle among the m vehicles that need to change lanes is calculated as follows:
A、当i＝1时，表明该车为原队列中位置最靠前的换道车辆，为换道完成后目标车道上新队列的头车；因而，其纵向换道位移xd的计算公式为：A. When i=1, it indicates that the vehicle is the frontmost lane-changing vehicle in the original queue and is the head vehicle of the new queue in the target lane after the lane change is completed; therefore, the calculation formula for its longitudinal lane-changing displacementxd is:
式中，vs为换道开始时智能网联车队列稳定行驶时的纵向速度。Wherevs is the longitudinal speed of the intelligent connected vehicle platoon when the lane change starts.
B、当i≠1时，表明该车不为原队列中位置最靠前的换道车辆，则其在进行换道过程中，还需向前方靠拢，缩短与目标车道上前车的间距，以便在换道结束时更快的形成新的队列；因而，其纵向换道位移xd的计算公式为：B. When i≠1, it indicates that the vehicle is not the frontmost lane-changing vehicle in the original queue. In this case, it needs to move forward and shorten the distance with the front vehicle in the target lane during the lane-changing process so as to form a new queue more quickly at the end of the lane-changing process. Therefore, the calculation formula for its longitudinal lane-changing displacementxd is:
式中，pi为m辆需换道车辆中第i辆智能网联车在原始智能网联车队列中的顺序编号。Where,pi is the sequence number of the i-th intelligent connected vehicle among the m vehicles that need to change lanes in the original intelligent connected vehicle queue.
pi-1为m辆需换道车辆中第i-1辆智能网联车在原始智能网联车队列中的顺序编号。pi-1 is the sequence number of the i-1th intelligent connected vehicle among the m vehicles that need to change lanes in the original intelligent connected vehicle queue.
d为新队列稳定时相邻两辆车的期望车头间距，为设定值。d is the expected headway between two adjacent vehicles when the new queue is stable, which is a set value.
Δpmax为换道过程中不发生碰撞情况下的允许的最大车辆间隔数量。Δpmax is the maximum number of vehicle gaps allowed without a collision during the lane change process.
步骤4-2、整体换道：根据步骤4-1计算的整体换道参数和双五次换道轨迹模型，m辆需换道车辆，同时从外侧车道同步整体换道至目标车道。Step 4-2, overall lane change: Based on the overall lane change parameters calculated in step 4-1 and the double quintic lane change trajectory model, the m vehicles that need to change lanes simultaneously change lanes from the outer lane to the target lane.
步骤1中，d0的计算公式为：In step 1, d0 is calculated as:
式中，dsafe为人工驾驶车辆和智能网联车辆之间的纵向安全间距，已知值。Where dsafe is the longitudinal safety distance between the manually driven vehicle and the intelligent connected vehicle, which is a known value.
tdmax为换道过程中紧急纠正车辆姿态所需最长时间，设定值。tdmax is the maximum time required to urgently correct the vehicle posture during lane changing, a set value.
vplatoon为智能网联车队列行驶速度。vplatoon is the driving speed of the intelligent connected vehicle platoon.
xlimit为前方人工驾驶车辆最短制动距离，已知值。xlimit is the shortest braking distance of the human-driven vehicle ahead, a known value.
abrake为智能网联车队列紧急制动速度，已知值。abrake is the emergency braking speed of the intelligent connected vehicle platoon, a known value.
步骤1中，d1和d2的计算公式分别为：In step 1, the calculation formulas for d1 and d2 are:
式中，tpre为网联车队列预先亮起转向灯的时间，设定值。Wheretpre is the time when the turn signal of the connected vehicle queue is turned on in advance, which is a set value.
tact为人工驾驶车辆驾驶员的反应时间，已知值。tact is the reaction time of the driver of a manually driven vehicle, a known value.
vhumandrive为人工驾驶车辆速度。vhumandrive is the speed of the human-driven vehicle.
acomfortable为人工驾驶车辆的舒适制动减速度，已知值。acomfortable is the comfortable braking deceleration of a manually driven vehicle, a known value.
纵向控制器的表达式为：The expression of the longitudinal controller is:
其中：in:
式中，uf为优选换道尾部车辆的纵向加速度控制器。Where uf is the longitudinal acceleration controller of the rear vehicle in the optimal lane change.
kfp，kfv和kfa分别为优选换道尾部车辆的位置、速度和加速度反馈增益，均为设定值。kfp , kfv and kfa are the position, velocity and acceleration feedback gains of the rear vehicle in the preferred lane change, respectively, and are all set values.
τf为优选换道尾部车辆动力系统中的惯性时滞，已知值。τf is the inertia time lag in the power system of the tail vehicle in the preferred lane change, a known value.
和分别为优选换道尾部车辆的位置、速度和加速度误差。 and are the position, velocity and acceleration errors of the rear vehicle in the optimal lane change.
pf，vf和af分别为优选换道尾部车辆的位置、速度和加速度。pf , vf and af are the position, velocity and acceleration of the rear vehicle in the preferred lane change respectively.
pp，vp和ap分别为优选换道尾部车辆前方的最邻近上一辆智能网联车的位置、速度和加速度。pp , vp and ap are the position, speed and acceleration of the nearest intelligent connected vehicle in front of the rear vehicle in the preferred lane change, respectively.
hf为优选换道尾部车辆与最邻近上一辆智能网联车之间的车头时距。hf is the headway time between the rear vehicle at the preferred lane change and the nearest intelligent connected vehicle.
步骤4-1中，Δpmax通过如下公式联立，求解得到：In step 4-1, Δpmax is solved by combining the following formulas:
Δpmax＝MAX(pi-pi-1)Δpmax = MAX(pi -p i-1 )
式中，L为智能网联车的车长。Where L is the length of the intelligent connected vehicle.
Δxp为m辆需换道车辆中第i辆智能网联车横向偏出队列一个车宽时，其纵向相对位移；Δxp is the longitudinal relative displacement of the i-th intelligent connected vehicle among the m vehicles that need to change lanes when it deviates laterally from the queue by one vehicle width;
tp为m辆需换道车辆中第i辆智能网联车不再与原车道上行驶的前车发生横向碰撞的时间。tp is the time when the i-th intelligent connected vehicle among the m vehicles that need to change lanes no longer collides laterally with the preceding vehicle traveling in the original lane.
步骤4-2中，双五次换道轨迹模型为：In step 4-2, the double five-time lane-changing trajectory model is:
式中，v0为m辆需换道车辆中第i辆智能网联车换道开始时的速度。Wherev0 is the speed of the i-th intelligent connected vehicle among the m vehicles that need to change lanes when it starts changing lanes.
本发明具有如下有益效果：The present invention has the following beneficial effects:
1、本发明基于既有的智能网联车队列纵向控制器，通过V2V通讯获得周围车辆信息，以队列内车辆速度、加速度和位置信息为基础，通过对目标车道前方和后方人工驾驶车辆的状态进行分析，选取合理的方式规划换道轨迹，完成多车协同换道过程，并通过预先规划车辆纵向位置帮助缩短新队列的形成时间。1. The present invention is based on the existing longitudinal controller of the intelligent connected vehicle queue, obtains the surrounding vehicle information through V2V communication, and analyzes the status of the manually driven vehicles in front and behind the target lane based on the speed, acceleration and position information of the vehicles in the queue. It selects a reasonable way to plan the lane change trajectory, completes the multi-vehicle coordinated lane change process, and helps shorten the formation time of the new queue by pre-planning the longitudinal position of the vehicles.
2、本发明提供的方法综合考虑多种换道场景，将基于V2V的队列控制和换道相结合，换道车辆可以以更近的安全间距在更短的时间内进行换道；无车辆影响换道时多车可同时换道；在后方存在可能影响换道的车辆时，换道车辆中靠后车辆先进行换道，减速为前车预留足够空间，之后多车可同时换道；保留在原先车道行驶的车辆可以更快恢复间距，新车道上的车辆可以更快缩短间距。整体换道过程时间缩短，道路通行效率提升；不稳定因素减少，为道路交通安全提供保障。2. The method provided by the present invention comprehensively considers a variety of lane-changing scenarios, combines V2V-based queue control with lane-changing, and lane-changing vehicles can change lanes in a shorter time with a closer safety distance; when there are no vehicles affecting the lane-changing, multiple vehicles can change lanes at the same time; when there are vehicles behind that may affect the lane-changing, the rear vehicle among the lane-changing vehicles changes lanes first, slows down to reserve enough space for the vehicle in front, and then multiple vehicles can change lanes at the same time; vehicles remaining in the original lane can restore the distance faster, and vehicles in the new lane can shorten the distance faster. The overall lane-changing process time is shortened, and the road traffic efficiency is improved; unstable factors are reduced, providing protection for road traffic safety.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明一种基于智能网联车队列控制的多车协同换道方法的流程图。FIG1 is a flow chart of a multi-vehicle coordinated lane changing method based on intelligent connected vehicle platoon control according to the present invention.
具体实施方式DETAILED DESCRIPTION
下面结合附图和具体较佳实施方式对本发明作进一步详细的说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.
本发明的描述中，需要理解的是，术语“左侧”、“右侧”、“上部”、“下部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，“第一”、“第二”等并不表示零部件的重要程度，因此不能理解为对本发明的限制。本实施例中采用的具体尺寸只是为了举例说明技术方案，并不限制本发明的保护范围。In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.
如图1所示，一种基于智能网联车队列控制的多车协同换道方法，包括如下步骤。As shown in FIG1 , a multi-vehicle coordinated lane changing method based on intelligent connected vehicle platoon control includes the following steps.
步骤1、目标车道影响车辆识别：智能网联车队列位于与目标车道相邻的外侧车道；目标车道内行驶有人工驾驶车辆；目标车道内位于智能网联车队列前方距离最近的人工驾驶车与智能网联车队列头部的纵向间距为D0；目标车道内位于智能网联车队列后方距离最近的人工驾驶车与智能网联车队列尾部的纵向间距为D1。Step 1. The target lane affects vehicle identification: the intelligent connected vehicle queue is located in the outer lane adjacent to the target lane; there is a manually driven vehicle in the target lane; the longitudinal distance between the closest manually driven vehicle in front of the intelligent connected vehicle queue in the target lane and the head of the intelligent connected vehicle queue is D0; the longitudinal distance between the closest manually driven vehicle in the rear of the intelligent connected vehicle queue in the target lane and the tail of the intelligent connected vehicle queue is D1.
当D0≥d0时，认为目标车道前方无影响智能网联车队列的换道车辆；d0为前换道安全阈值。When D0≥d0, it is considered that there is no lane-changing vehicle in front of the target lane that will affect the intelligent connected vehicle queue; d0 is the front lane-changing safety threshold.
当D1≥d1时，认为目标车道后方无影响智能网联车队列的换道车辆；d1为后换道安全阈值。When D1≥d1, it is considered that there is no lane-changing vehicle behind the target lane that will affect the intelligent connected vehicle queue; d1 is the rear lane-changing safety threshold.
当d2≤D1＜d1时，认为目标车道后方具有潜在影响智能网联车队列的换道车辆；其中，d2为允许换道的最小纵向间距；d2＜d1。When d2≤D1＜d1, it is considered that there is a lane-changing vehicle behind the target lane that has the potential to affect the intelligent connected vehicle queue; where d2 is the minimum longitudinal spacing allowed for lane changing; d2＜d1.
当D1＜d2时，认为当前时刻智能网联车队列不适宜换道，需等待时机使D1≥d2。When D1＜d2, it is considered that the intelligent connected vehicle queue is not suitable for lane changing at the current moment, and it is necessary to wait for the opportunity to make D1≥d2.
上述d0的计算公式优选为：The calculation formula of d0 is preferably:
式中，dsafe为人工驾驶车辆和智能网联车辆之间的纵向安全间距，已知值。Where dsafe is the longitudinal safety distance between the manually driven vehicle and the intelligent connected vehicle, which is a known value.
tdmax为换道过程中紧急纠正车辆姿态所需最长时间，设定值。tdmax is the maximum time required to urgently correct the vehicle posture during lane change, a set value.
vplatoon为智能网联车队列行驶速度。vplatoon is the driving speed of the intelligent connected vehicle platoon.
xlimit为前方人工驾驶车辆最短制动距离，已知值。xlimit is the shortest braking distance of the human-driven vehicle ahead, a known value.
abrake为智能网联车队列紧急制动速度，已知值。abrake is the emergency braking speed of the intelligent connected vehicle platoon, a known value.
上述d1和d2的计算公式优选分别为：The calculation formulas for the above d1 and d2 are preferably:
式中，tpre为网联车队列预先亮起转向灯的时间，设定值。Wheretpre is the time when the turn signal of the connected vehicle queue is turned on in advance, which is a set value.
tact为人工驾驶车辆驾驶员的反应时间，已知值。tact is the reaction time of the driver of a manually driven vehicle, a known value.
vhumandrive为人工驾驶车辆速度。vhumandrive is the speed of the human-driven vehicle.
acomfortable为人工驾驶车辆的舒适制动减速度，已知值。acomfortable is the comfortable braking deceleration of a manually driven vehicle, a known value.
在本实施例中，对目标车道后方人工驾驶车辆作如下假设：In this embodiment, the following assumptions are made for the manually driven vehicle behind the target lane:
①以驾驶员最大的正常反应时间2s考虑；① Consider the driver's maximum normal reaction time of 2s;
②认为存在10％以内超速的情况，即132km/h(不予处罚的最高速度)；② It is considered that the speeding is within 10%, that is, 132km/h (the maximum speed without penalty);
③考虑非紧急制动下乘员舒适减速度0.15G，即1.47m/s2；③ Consider the occupant's comfortable deceleration of 0.15G under non-emergency braking, i.e. 1.47m/s2 ;
④认为智能网联车车队在队列稳定准备换道状态下速度不应低于100km/h。④ It is believed that the speed of the intelligent connected vehicle fleet should not be lower than 100km/h when the queue is stable and preparing to change lanes.
⑤换道前最后一辆换道车辆将提前4秒开启转向灯，之后进行换道。⑤ The last vehicle changing lanes before changing lanes will turn on the turn signal 4 seconds in advance and then change lanes.
⑥智能网联车紧急制动减速度为8m/s2。⑥ The emergency braking deceleration of the intelligent connected vehicle is 8m/s2 .
⑦智能网联车换道过程中姿态调整时间不超过换道总时长的一半，即小于2.5s。⑦ The posture adjustment time of the intelligent connected vehicle during lane changing shall not exceed half of the total lane changing time, that is, less than 2.5s.
⑧人工驾驶车辆意外最短停车距离为80m。⑧The shortest accidental stopping distance for a manually driven vehicle is 80m.
在上述假设下可得：Under the above assumptions, we can get:
d1＝99.8m≈100m，d2＝54.6m≈55md1 =99.8m≈100m, d2 =54.6m≈55m
另外，本实施例中，优选d0＝70m。In addition, in this embodiment, d0 =70 m is preferred.
由于队列中部分车辆进行换道时，队列纵向仍需维持稳定，即换道车辆的纵向速度与维持原车道行驶的车辆纵向速度保持一致。若队列原先行驶速度显著低于道路限速，则换道车辆可以提高速度，在维持纵向速度不变的情况下，提供横向速度；若队列原先行驶速度接近道路限速或等于道路限速，则无法通过换道车辆加速的方式来提供横向速度，则需整体队列在换道前适当降速。即纵向最大速度和横向最大速度的平方相加之和不得超过限速的平方。When some vehicles in a queue change lanes, the longitudinal direction of the queue still needs to remain stable, that is, the longitudinal speed of the lane-changing vehicle is consistent with the longitudinal speed of the vehicle maintaining the original lane. If the original speed of the queue is significantly lower than the road speed limit, the lane-changing vehicle can increase the speed and provide the lateral speed while maintaining the longitudinal speed unchanged; if the original speed of the queue is close to or equal to the road speed limit, the lateral speed cannot be provided by accelerating the lane-changing vehicle, and the entire queue needs to slow down appropriately before changing lanes. That is, the sum of the squares of the maximum longitudinal speed and the maximum lateral speed shall not exceed the square of the speed limit.
对于车队在换道前的减速过程，以限速120km/h的高速公路为例，以梯形加速度换道轨迹模型为例，换道过程中最大横向速度vymax≈2.2m/s，解得vxmax＝119.7km/h，即当队列速度大于119.7km/h时需减速至该速度以下，小于该速度则无需减速。故需减速的情况和减速幅度都较小，对队列正常行驶几乎不产生任何影响。For the deceleration process of the convoy before changing lanes, taking a highway with a speed limit of 120km/h as an example, and taking the trapezoidal acceleration lane-changing trajectory model as an example, the maximum lateral speed during the lane-changing process is vymax ≈2.2m/s, and vxmax ＝119.7km/h is obtained, that is, when the queue speed is greater than 119.7km/h, it needs to be decelerated to below this speed, and it does not need to be decelerated when it is less than this speed. Therefore, the situation where deceleration is required and the deceleration amplitude are both small, and have almost no impact on the normal driving of the queue.
步骤2、确定换道方式：设智能网联车队列中需换道车辆为m辆，则换道方式的确定方法为：Step 2: Determine the lane-changing method: Assume that there are m vehicles in the intelligent connected vehicle queue that need to change lanes. The method for determining the lane-changing method is:
A、当D0≥d0且D1≥d1时，跳转至步骤4，使智能网联车队列中需换道的m辆车实现同步换道。在本实施例中，D0≥70m且D1≥100m时，认为无风险，可以直接进行换道。A. When D0≥d0 and D1≥d1, jump to step 4 to make the m vehicles in the intelligent connected vehicle queue that need to change lanes change synchronously. In this embodiment, when D0≥70m and D1≥100m, it is considered that there is no risk and the lane change can be performed directly.
B、当D0≥d0且d2≤D1＜d1时，进入步骤3，使智能网联车队列中需换道m辆车中尾部的最后一辆车优选换道；当最后一辆车换道完成后，进入步骤4，使剩余m-1辆车实现同时整体换道。B. When D0≥d0 and d2≤D1＜d1, go to step 3 to make the last car at the tail end of the m cars that need to change lanes in the intelligent connected car queue change lanes first; when the last car completes the lane change, go to step 4 to make the remaining m-1 cars change lanes at the same time.
在本实施例中，D0≥70m且55m≤D1＜100m时，认为存在一定的风险，需最后一辆车提前转入目标车道，为前方换道车辆提供换道空间。In this embodiment, when D0≥70m and 55m≤D1＜100m, it is considered that there is a certain risk, and the last vehicle needs to turn into the target lane in advance to provide lane changing space for the vehicle in front.
另外，对于D0＜d0以及D1＜d2的情况(也即D0＜70m或D1＜55m)，当前时刻不予换道，可以采用方式，在后续时刻进行换道。In addition, for the case of D0＜d0 and D1＜d2 (ie D0＜70m or D1＜55m), no lane change is performed at the current moment, and a method can be used to change lanes at a subsequent moment.
C、对于当前时刻D0＜d0(也即D0＜70m)的情况，优选采取以下两种方式在后续时刻进行换道：C. For the case where D0<d0 (i.e. D0<70m) at the current moment, it is preferred to adopt the following two methods to change lanes at subsequent moments:
①若智能网联车队列速度小于或等于前方人驾车辆速度时，则以最大舒适减速度1.47m/s2进行匀减速，将速度降低至低于前方车辆20km/h，等待该车辆离开前方70米区域时，重新开始进行换道流程。① If the speed of the intelligent connected vehicle queue is less than or equal to the speed of the human-driven vehicle in front, the vehicle will be decelerated uniformly at the maximum comfortable deceleration of 1.47m/s2 , reducing the speed to 20km/h lower than the vehicle in front. When the vehicle leaves the 70-meter area in front, the lane change process will be restarted.
②若智能网联车队列速度大于前方人驾车辆速度时，则以最大舒适加速度1.47m/s2进行匀加速，加速至最高限速后，超越前方车辆，且其距离队列尾车超过55m，重新开始换道流程。② If the speed of the intelligent connected vehicle queue is greater than the speed of the human-driven vehicle in front, it will accelerate uniformly at the maximum comfortable acceleration of 1.47m/s2. After accelerating to the maximum speed limit, it will overtake the vehicle in front, and its distance from the rear vehicle in the queue will exceed 55m, and the lane change process will be restarted.
D、对于当前时刻D1＜d2(也即D1＜55m)的情况，优选采取以下两种方式在后续时刻进行换道：D. For the case where D1 < d2 (i.e. D1 < 55 m) at the current moment, it is preferred to adopt the following two methods to change lanes at subsequent moments:
①若后方车辆速度大于或等于智能网联车队列的车速，则智能网联车队列以最大舒适减速度1.47m/s2进行匀减速，将速度降低至低于后方车辆20km/h，等待后方车辆完全超越驶离车队前方70米区域时，重新开始进行换道流程。① If the speed of the rear vehicle is greater than or equal to the speed of the intelligent connected vehicle platoon, the intelligent connected vehicle platoon will decelerate uniformly at the maximum comfortable deceleration of 1.47m/s2 , reducing the speed to 20km/h lower than the rear vehicle, and wait for the rear vehicle to completely overtake and leave the 70-meter area in front of the platoon, and then restart the lane change process.
②若后方车辆速度低于智能网联车队列车速，则智能网联车队列将亮起转向灯，以最大舒适加速度1.47m/s2进行匀加速，将速度增加至高于后方车辆10km/h，等待后方车辆车辆于车队尾车距离大于55米时，重新开始进行换道流程。② If the speed of the rear vehicle is lower than that of the intelligent connected vehicle fleet, the intelligent connected vehicle fleet will turn on the turn signal and accelerate uniformly at the maximum comfortable acceleration of 1.47m/s2 , increasing the speed to 10km/h higher than the rear vehicle, and wait until the rear vehicle is more than 55 meters away from the rear vehicle of the fleet, and then restart the lane change process.
步骤3、尾部车辆优选换道，具体包括如下步骤：Step 3: The rear vehicle preferably changes lanes, specifically including the following steps:
步骤3-1、规划横向加速度：根据梯形加速度模型，得到队尾车辆的横向加速度随时间的变化关系曲线，进而得到横向位移随时间的变化关系曲线。Step 3-1, planning lateral acceleration: According to the trapezoidal acceleration model, obtain the relationship curve of the lateral acceleration of the rear vehicle of the team with time, and then obtain the relationship curve of the lateral displacement with time.
横向梯形加速度模型的形式为：The form of the lateral trapezoidal acceleration model is:
式中，t1为汽车以最大的j值达到横向加速度最大值所需要的时间，t2为汽车在换道过程中第一次维持最大横向加速度不变的时间；j为横向加速度的最大变化率，为已知值；v为优选换道尾部车辆的速度；a为优选换道尾部车辆的加速度。Wherein,t1 is the time required for the vehicle to reach the maximum lateral acceleration with the maximum j value,t2 is the time for the vehicle to maintain the maximum lateral acceleration unchanged for the first time during the lane changing process; j is the maximum rate of change of lateral acceleration, which is a known value; v is the speed of the vehicle at the end of the preferred lane change; a is the acceleration of the vehicle at the end of the preferred lane change.
进一步地，对上式求二次积分得到汽车横向位移与时间地关系为：Furthermore, by taking the second integral of the above formula, we can get the relationship between the lateral displacement of the vehicle and time:
进一步地，对于上式，有∫∫adt＝w，w为车道宽度，可以解得t2的值，即可得到最终的横向加速度和横向位移与时间关系式。Furthermore, for the above formula, ∫∫adt=w, where w is the lane width, the value oft2 can be solved, and the final relationship between lateral acceleration and lateral displacement and time can be obtained.
在本实施例中，以高速公路为例，取车道宽度为3.75米，横向最大加速度为1.5m/s2，横向加速度最大变化率为3m/s3。解得t2＝0.85s，总换道时长为3.70s。In this embodiment, taking a highway as an example, the lane width is 3.75 meters, the maximum lateral acceleration is 1.5 m/s2 , and the maximum lateral acceleration change rate is 3 m/s3 . The solution is t2 = 0.85 s, and the total lane change time is 3.70 s.
即横向加速度与时间关系为：That is, the relationship between lateral acceleration and time is:
即横向位移与时间关系为：That is, the relationship between lateral displacement and time is:
步骤3-2、规划纵向加速度：采用纵向控制器对尾部车辆的纵向加速度进行规划；其中，纵向控制器基于PF通讯拓扑和定时距策略进行控制。Step 3-2, planning the longitudinal acceleration: using a longitudinal controller to plan the longitudinal acceleration of the rear vehicle; wherein the longitudinal controller is controlled based on the PF communication topology and the timing distance strategy.
上述纵向控制器的表达式为：The expression of the above longitudinal controller is:
其中：in:
式中，uf为优选换道尾部车辆的纵向加速度控制器。Where uf is the longitudinal acceleration controller of the rear vehicle in the optimal lane change.
kfp，kfv和kfa分别为优选换道尾部车辆的位置、速度和加速度反馈增益，均为设定值。kfp , kfv and kfa are the position, velocity and acceleration feedback gains of the rear vehicle in the preferred lane change, respectively, and are all set values.
τf为优选换道尾部车辆动力系统中的惯性时滞，已知值。τf is the inertia time lag in the power system of the tail vehicle in the preferred lane change, a known value.
和分别为优选换道尾部车辆的位置、速度和加速度误差。 and are the position, velocity and acceleration errors of the rear vehicle in the optimal lane change.
pf，vf和af分别为优选换道尾部车辆的位置、速度和加速度。pf , vf and af are the position, velocity and acceleration of the rear vehicle in the preferred lane change respectively.
pp，vp和ap分别为优选换道尾部车辆前方的最邻近上一辆智能网联车的位置、速度和加速度。pp , vp and ap are the position, speed and acceleration of the nearest intelligent connected vehicle in front of the rear vehicle in the preferred lane change, respectively.
hf为优选换道尾部车辆与最邻近上一辆智能网联车之间的车头时距。hf is the headway time between the rear vehicle at the preferred lane change and the nearest intelligent connected vehicle.
上述纵向控制器参数取值和控制器形式优选为：The above longitudinal controller parameter values and controller form are preferably:
kfp＝0.1，kfv＝1.6，kfa＝0.8，hf＝0.5skfp =0.1, kfv =1.6, kfa =0.8, hf =0.5s
步骤3-3、尾部车辆换道：尾部车辆根据步骤3-1规划的横向加速度，以及步骤3-2规划的纵向加速度，从外侧车道换至目标车道。Step 3-3, rear vehicle lane change: The rear vehicle changes lanes from the outer lane to the target lane according to the lateral acceleration planned in step 3-1 and the longitudinal acceleration planned in step 3-2.
步骤4、整体换道，具体包括如下步骤：Step 4: overall lane change, specifically including the following steps:
步骤4-1、计算整体换道参数：整体换道参数包括整体换道时间td、换道结束速度vd和纵向换道位移xd；其中，整体换道时间td根据车道宽速w进行确定；换道结束速度vd，优选与没有进行换道的原队列在换道结束时的速度保持一致，考虑到安全和稳定，一般情况下原队列在换道过程中是保持匀速行驶的，故认为vd＝vx。Step 4-1, calculate the overall lane-changing parameters: the overall lane-changing parameters include the overall lane-changing time td , the lane-changing end speed vd and the longitudinal lane-changing displacement xd ; wherein the overall lane-changing time td is determined according to the lane width speed w; the lane-changing end speed vd is preferably consistent with the speed of the original queue at the end of the lane-changing without changing lanes. Considering safety and stability, the original queue generally maintains a uniform speed during the lane-changing process, so it is considered that vd =vx .
m辆需换道车辆中第i辆智能网联车的纵向换道位移xd的计算方法为：The calculation method of the longitudinal lane-changing displacementxd of the i-th intelligent connected vehicle among the m vehicles that need to change lanes is:
A、当i＝1时，表明该车为原队列中位置最靠前的换道车辆，为换道完成后目标车道上新队列的头车；因而，其纵向换道位移xd的计算公式为：A. When i=1, it indicates that the vehicle is the frontmost lane-changing vehicle in the original queue and is the head vehicle of the new queue in the target lane after the lane change is completed; therefore, the calculation formula for its longitudinal lane-changing displacementxd is:
式中，vs为换道开始时智能网联车队列稳定行驶时的纵向速度。Wherevs is the longitudinal speed of the intelligent connected vehicle platoon when the lane change starts.
B、当i≠1时，表明该车不为原队列中位置最靠前的换道车辆，则其在进行换道过程中，还需向前方靠拢，缩短与目标车道上前车的间距，以便在换道结束时更快的形成新的队列；因而，其纵向换道位移xd的计算公式为：B. When i≠1, it indicates that the vehicle is not the frontmost lane-changing vehicle in the original queue. In this case, it needs to move forward and shorten the distance with the front vehicle in the target lane during the lane-changing process so as to form a new queue more quickly at the end of the lane-changing process. Therefore, the calculation formula for its longitudinal lane-changing displacementxd is:
式中，pi为m辆需换道车辆中第i辆智能网联车在原始智能网联车队列中的顺序编号。Where,pi is the sequence number of the i-th intelligent connected vehicle among the m vehicles that need to change lanes in the original intelligent connected vehicle queue.
pi-1为m辆需换道车辆中第i-1辆智能网联车在原始智能网联车队列中的顺序编号。pi-1 is the sequence number of the i-1th intelligent connected vehicle among the m vehicles that need to change lanes in the original intelligent connected vehicle queue.
d为新队列稳定时相邻两辆车的期望车头间距，为设定值。d is the expected headway between two adjacent vehicles when the new queue is stable, which is a set value.
Δpmax为换道过程中不发生碰撞情况下的允许的最大车辆间隔数量。Δpmax is the maximum number of vehicle gaps allowed without a collision during the lane change process.
上述Δpmax通过如下公式联立，求解得到：The above Δpmax is solved by combining the following formulas:
Δpmax＝MAX(pi-pi-1) (1)Δpmax =MAX(pi -pi-1 ) (1)
Δxp＜d-L (3)Δxp ＜dL (3)
式中，L为智能网联车的车长。Where L is the length of the intelligent connected vehicle.
Δxp为m辆需换道车辆中第i辆智能网联车横向偏出队列一个车宽时，其纵向相对位移。Δxp is the longitudinal relative displacement of the i-th intelligent connected vehicle among the m vehicles that need to change lanes when it deviates laterally from the queue by one vehicle width.
Δxp的求解方法，优选为：先假设pi-pi-1是0，算出来Δxp，然后采用上述公式(3)和d-L比较，然后判断上述公式(1)是否成立。后面同理，假设pi-pi-1是1、2、3……，依次进行判断，得到pi-pi-1≤2，说明小于等于2可以，大于2不可以。The preferred method for solvingΔxp is: first assume that pi -p i-1 is 0, calculateΔxp , then use the above formula (3) to compare with dL, and then determine whether the above formula (1) is established. Similarly, assume that pi -p i-1 is 1, 2, 3, etc., and make judgments in sequence to obtain pi -p i-1 ≤ 2, which means that it is acceptable to be less than or equal to 2, but not to be greater than 2.
tp为m辆需换道车辆中第i辆智能网联车不再与原车道上行驶的前车发生横向碰撞的时间；tp为求解值，设车辆的宽度为c，将y(t)＝c代入如下通解中：tp is the time when the i-th intelligent connected vehicle among the m vehicles that need to change lanes no longer collides with the front vehicle traveling in the original lane;tp is the solution value. Assume that the width of the vehicle is c, and substitute y(t)=c into the following general solution:
通过上述求解的t值，就是tp。The value of t obtained through the above solution is tp .
本实施例中，取标准车辆宽度为1.8m，长为4.8m。纵向控制模型下车头安全间距为16.6m，即在车辆横向位移为1.8m时，纵向位移差不得超过11.8m，否则会与前车相撞。假设队列稳定行驶速度为110km/h，换道时间取5s。将tp＝2.45s代入双五次换道轨迹模型中，得到横向位移x(tp)＝Δxp＝1.8m，车辆偏出原队列。接着，将Δxp代入Δxp的计算公式中，得到pi-pi-1：In this embodiment, the standard vehicle width is 1.8m and the length is 4.8m. The frontal safety distance under the longitudinal control model is 16.6m, that is, when the lateral displacement of the vehicle is 1.8m, the longitudinal displacement difference must not exceed 11.8m, otherwise it will collide with the vehicle in front. Assume that the stable driving speed of the queue is 110km/h and the lane change time is 5s. Substitutetp = 2.45s into the double five-time lane change trajectory model to obtain the lateral displacement x(tp ) =Δxp = 1.8m, and the vehicle deviates from the original queue. Then, substituteΔxp into the calculation formula ofΔxp to obtain pi -pi-1 :
i)若pi-pi-1≤2，则有约0.6m左右的安全距离，不会发生碰撞，按pi-pi-1值规划纵向位置即可；i) If pi -pi-1 ≤ 2, there is a safe distance of about 0.6 m and no collision will occur. The longitudinal position can be planned according to the pi -pi-1 value;
ii)若pi-pi-1＞2，则会发生碰撞，应先按pi-pi-1＝2进行轨迹规划，完成换道后再进行间距的进一步缩短。ii) If pi -p i-1 > 2, a collision will occur. The trajectory should be planned according to pi -p i-1 = 2, and the distance should be further shortened after the lane change is completed.
即若相邻两换道车辆在原队列中间隔不超过两辆车，如原队列第2辆、第5辆、第9辆车换道，第2和第5辆车属于相邻换道车辆，且在原队列中两车之间仅有第3、第4两辆车，间隔不超过两辆，则可以直接实现在换道的同时完成间距缩短的任务；第5和第9辆车属于相邻换道车辆，在原队列中两车之间有第6、第7和第8共三辆车，超过两辆，则先按照两辆的间距进行轨迹规划，换道完成后再继续缩小间距。That is, if the interval between two adjacent lane-changing vehicles in the original queue is no more than two vehicles, such as the 2nd, 5th, and 9th vehicles in the original queue changing lanes, the 2nd and 5th vehicles are adjacent lane-changing vehicles, and there are only the 3rd and 4th vehicles between the two vehicles in the original queue, with a distance of no more than two vehicles, then the task of shortening the distance can be achieved directly while changing lanes; if the 5th and 9th vehicles are adjacent lane-changing vehicles, and there are three vehicles, the 6th, 7th, and 8th, between the two vehicles in the original queue, with more than two vehicles, then trajectory planning is first performed according to the distance between the two vehicles, and then the distance is further reduced after the lane change is completed.
步骤4-2、整体换道：根据步骤4-1计算的整体换道参数和双五次换道轨迹模型，m辆需换道车辆，同时从外侧车道同步整体换道至目标车道。Step 4-2, overall lane change: Based on the overall lane change parameters calculated in step 4-1 and the double quintic lane change trajectory model, the m vehicles that need to change lanes simultaneously change lanes from the outer lane to the target lane.
现有双五次换道轨迹模型的形式为：The existing double five-time lane-changing trajectory model is in the form of:
式(1)中，x(t)和y(t)分别为换道车辆的纵向和横向位置与换道时间的关系式，取换道行为开始时时间t＝0，换道车辆位置为原点，即x(t)＝0，y(t)＝0，车辆纵向行驶方向为x轴正方向，横向换道方向为y轴正方向，建立坐标系；a5，a4，a3，a2，a1，a0，b5，b4，b3，b2，b2，b0为12个待求解的系数。In formula (1), x(t) and y(t) are the relationship between the longitudinal and lateral positions of the lane-changing vehicle and the lane-changing time, respectively. The time t=0 when the lane-changing behavior starts is taken as the origin, that is, x(t)=0, y(t)=0. The longitudinal driving direction of the vehicle is the positive direction of the x-axis, and the lateral lane-changing direction is the positive direction of the y-axis. A coordinate system is established.a5 ,a4 ,a3 ,a2 ,a1 ,a0 ,b5 ,b4 ,b3 ,b2 ,b2 ,b0 are 12 coefficients to be solved.
设换道开始和结束时车辆的状态矩阵分别为a和b：Assume that the state matrices of the vehicle at the beginning and end of the lane change are a and b respectively:
其中x0，y0，xd，yd分别为换道开始时和结束时车辆的纵向和横向位移，v0和vd分别为换道开始和结束时车辆速度，w为车道宽。where x0 , y0 , xd , yd are the longitudinal and lateral displacements of the vehicle at the beginning and end of the lane change, v0 and vd are the vehicle speeds at the beginning and end of the lane change, and w is the lane width.
对(2)(3)两式中的矩阵a和b进行变化，得到如下两个矩阵。By changing the matrices a and b in equations (2) and (3), we obtain the following two matrices.
设td为换道过程结束时的时刻，分别将t＝0和t＝td代入(1)式，解得x0，xd，y0，yd的表达式如下Assume td is the time when the lane change process ends, substitute t = 0 and t = td into equation (1) respectively, and solve for x0 , xd , y0 , yd as follows
将a5，a4，a3，a2，a1，a0，b5，b4，b3，b2，b1，b0作为未知数，得到两个六元一次方程组，其系数矩阵A和B如下：Taking a5 , a4 , a3 , a2 , a1 , a0 , b5 , b4 , b3 , b2 , b1 , b0 as unknowns, we get two systems of six-variable linear equations, whose coefficient matrices A and B are as follows:
求解两个六元一次方程组得：Solve the two six-variable linear equations to get:
将(12)(13)代入(1)式得到其通解为：Substituting (12) and (13) into (1), we get the general solution:
式中，v0为m辆需换道车辆中第i辆智能网联车换道开始时的速度。Wherev0 is the speed of the i-th intelligent connected vehicle among the m vehicles that need to change lanes when it starts changing lanes.
取高速公路车道宽为3.75米，初速度取队列行进速度110km/h，考虑换道结束后新队列更快形成并稳定，取末速度同为110km/h，换道时间考虑乘客舒适度取5s。纵向考虑向前缩短一个车头间距的情况，车头间距取16.67m，总位移为即车辆状态矩阵为：The width of the highway lane is 3.75 meters, the initial speed is 110 km/h, and the final speed is 110 km/h, considering that the new queue is formed and stabilized faster after the lane change. The lane change time is 5 seconds considering the comfort of passengers. The longitudinal distance is shortened by one headway, and the headway is 16.67 m. The total displacement is That is, the vehicle state matrix is:
代入通解得：Substituting into the general solution we get:
y(t)＝0.0072t5-0.09t4+0.3t3y(t)＝0.0072t5 -0.09t4 +0.3t3
规划得到的轨迹纵向和横向位移与时间关系如上式所示(单位：米)。The relationship between the longitudinal and lateral displacements of the planned trajectory and time is shown in the above formula (unit: meter).
以上详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种等同变换，这些等同变换均属于本发明的保护范围。The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.
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