Cooperative adaptive cruise control method for lane changing scene

Abstract

The invention relates to a cooperative adaptive cruise control method with a lane changing auxiliary function. The cooperative adaptive cruise control method mainly comprises the following steps that 1, a pilot vehicle builds a lane changing track function with an obstacle avoidance capacity according to the states of the vehicle before and after lane changing and critical collision conditions; 2, the pilot vehicle calculates the optimal lane changing track of the vehicle under the critical collision condition according to the speeds of the vehicle and the preceding vehicle, the geometric parameters of the vehicle body, the road parameters and the like; and 3, a motorcade tracks the optimal track according to the method provided by the invention. The method mainly has the following three innovation points that (1) an optimal lane changing track calculation method with a collision avoidance function is given by combining a polynomial method and an optimization method; (2) a nonlinear queue model is established for the heterogeneous vehicles of the motorcade, and compared with a previous method, by using the method of the invention, the motorcade is simplified into a linear model and is closer to reality; and (3) the designed method can ensure the stability of transverse and longitudinal queues during lane changing of the motorcade at the same time.

Description

technical field [0001] The present invention relates to the design of a kind of advanced driving assistance system (ADAS), in particular to the design of a kind of cooperative adaptive cruise control system control method (CACC) with lane-changing auxiliary function. Background technique [0002] Nowadays, the number of vehicles is increasing, which brings a series of problems, such as traffic congestion, environmental pollution and frequent traffic accidents. With the development of communication technology, V2X technology is attracting more and more attention. Among them, cooperative adaptive cruise control can greatly reduce the energy consumption and accident rate in the process of vehicle driving because it can drive vehicles in formation. Has considerable development potential. [0003] Vehicle formation needs to meet a variety of requirements, first of all, safety, that is, the vehicles must not collide; comfort, that is, the acceleration of the vehicles should not b...

AI Technical Summary

Problems solved by technology

Dang Ruina of Tsinghua University and others designed a vehicle multi-objective coordinated lane-changing auxiliary adaptive cruise control method, which can ensure the tracking, comfort and safety requirements of the vehicle when changing lanes, but only Aiming at the single-vehicle lane-changing cruise problem, it is not applicable to the team lane-changing cruise scene (Chinese patent: CN201410033746.2, a vehicle multi-objective coordinated lane-changing auxiliary adaptive cruise control method)

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