Coordinated lane changing method, device, equipment and storage medium for dual-lane intelligent networked vehicles

Abstract

The present invention relates to a method, device, equipment and storage medium for coordinated lane change of two-lane intelligent networked vehicles. The method obtains the motion state information of vehicles around the lane-changing vehicle in real time, and constructs a lateral acceleration model of the lane-changing vehicle M. And the longitudinal acceleration model, which considers multiple constraints such as safety, comfort and state goals of lane changing, and realizes the goal of safe and coordinated lane changing of intelligent networked vehicles. The present invention divides the whole lane changing process into two stages, and in the lane changing target stage, the purpose of actively adjusting the traffic flow of the two lanes is achieved by actively controlling the target lane and the main lane to cooperate with the lane changing vehicles, and the impact of lane changing on the traffic flow of the two lanes is improved to a certain extent. to improve the traffic efficiency of two-lane roads; considering that the fixed lane change time may not have a feasible solution under certain lane change initial conditions, the cooperative lane change time is selected as the range value to effectively improve the feasibility of the optimization model solution. Thereby increasing the feasible range of lane changing.

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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