Optional Lane-Changing of Intelligent Vehicles Based on Vehicle-to-Vehicle Communication
Aiming at safety problems of intelligent vehicles during lane-changing, a safe autonomous lane-changing model of intelligent networked vehicles is proposed. In the two-lane scenario, based on the vehicle-to-vehicle communication technology, the motion state information of the lane-changing vehicle and surrounding vehicles is obtained. The cooperative lane-changing decision model is established by game theory. Based on Model Prediction Control (MPC) theory, lane-changing trajectory tracking controller is designed. Through simulation, compared with the current research methods, the quantitative analysis verifies that the designed trajectory tracking controller realizes the safe and accurate lane-changing of the intelligent vehicle.
1. Jiangsu Key Laboratory of Urban ITS (Southeast University), Nanjing Jiangsu 210096, China 2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing Jiangsu 210096, China 3. Jiangsu Province Collaborative Innovation Center for Technology and Application of Internet of Things, Nanjing Jiangsu 210096, China
Abstract:Aiming at safety problems of intelligent vehicles during lane-changing, a safe autonomous lane-changing model of intelligent networked vehicles is proposed. In the two-lane scenario, based on the vehicle-to-vehicle communication technology, the motion state information of the lane-changing vehicle and surrounding vehicles is obtained. The cooperative lane-changing decision model is established by game theory. Based on Model Prediction Control (MPC) theory, lane-changing trajectory tracking controller is designed. Through simulation, compared with the current research methods, the quantitative analysis verifies that the designed trajectory trackingcontroller realizes the safe and accurate lane-changing of the intelligent vehicle.
季亚平, 张健, 吴坤润, 李青扬. 车车通信环境下智能车辆安全自主换道[J]. 指挥与控制学报, 2021, 7(4): 389-396.
JI Ya-Ping, ZHANG Jian, WU Kun-Run, LI Qing-Yang. Optional Lane-Changing of Intelligent Vehicles Based on Vehicle-to-Vehicle Communication. Journal of Command and Control, 2021, 7(4): 389-396.