Double-lane intelligent network connection vehicle cooperative lane changing method, device and equipment and storage medium

Abstract

The invention relates to a double-lane intelligent network connection vehicle cooperative lane changing method, device and equipment and a storage medium. The method comprises the steps that motion state information of vehicles around a lane changing vehicle is obtained in real time, and a transverse acceleration model and a longitudinal acceleration model of the lane changing vehicle M are constructed. According to the models, multiple constraints such as safety, comfort and a state target of lane changing are considered, and the target of safe cooperative lane changing of the intelligent network connection vehicle is achieved. The whole lane changing process is divided into two stages, the purpose of actively adjusting the traffic flow of the two lanes is achieved by actively controllinga target lane and a main lane to cooperate with the lane changing vehicle in the lane changing target stage, the negative influence of lane changing on the traffic flow of the two lanes is improved to a certain extent, and the road passing efficiency of the two lanes is improved; and in consideration of the fact that a feasible solution does not exist under certain lane changing initial conditions when fixed lane changing time is adopted, the collaborative lane changing time is selected as a range value, the feasibility of optimizing model solving is effectively improved, and then the feasible lane changing range is widened.

Description

technical field [0001] The invention relates to the technical field of active safety control of intelligent networked vehicles, in particular to a method, device, equipment and storage medium for coordinated lane change of intelligent networked vehicles with two lanes. Background technique [0002] Lane changing is a common driving behavior in road traffic. Compared with car-following behavior, it involves movement in both horizontal and vertical directions, so the decision-making and operation process is more complicated. Human drivers often make inappropriate lane-changing operations due to lack of driving experience and unskilled driving skills, which has a negative impact on road traffic safety and traffic efficiency. Relevant research data show that 75% of lane-changing accidents are caused by driver error, and traffic accidents caused by lane-changing account for about 4%-10% of the total traffic accidents, and cause 10% of traffic delays. [0003] In recent years, wi...

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Problems solved by technology

[0006] Based on this, it is necessary to focus on the existing multi-vehicle coordinated lane change, pay less attention to the vehicles behind the lane-changing vehicle on the main lane, and use mature car-following models to describe the car-following adjustment stage, without the To control the problem of interference, a method, device, equipment, and storage medium for coordinated lane change of dual-lane intelligent networked vehicles are provided

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