CN106997690A - The optional lane-change control method of vehicle on highway under a kind of car networking environment - Google Patents

The optional lane-change control method of vehicle on highway under a kind of car networking environment Download PDF

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Publication number
CN106997690A
CN106997690A CN201710338915.7A CN201710338915A CN106997690A CN 106997690 A CN106997690 A CN 106997690A CN 201710338915 A CN201710338915 A CN 201710338915A CN 106997690 A CN106997690 A CN 106997690A
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lane
vehicle
change
speed
lie
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CN106997690B (en
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张健
洪阳
冉斌
徐凌慧
季欣凯
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Southeast University
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Southeast University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses the optional lane-change control method of vehicle on highway under a kind of car networking environment.Described optional lane-change is that lane-change vehicle is to improve vehicle running state, and front vehicles travel speed it is relatively low when, shift to the behavior of traffic behavior preferable lie traveling, this method is：Under car networking environment, the vehicle travelled on a highway can realize truck traffic by the nearby vehicle in wireless communication mode and communication context and carry out real-time data exchange, when certain vehicle has optional lane-change demand, the vehicle sends request to neighbouring vehicle, obtain other vehicle locations, velocity information, judged according to traffic behavior different in vehicle-surroundings communication range, pressure lane-change behavior to lane-change vehicle is controlled, and realizes the safe efficient implementation of optional lane-change behavior.The present invention is analyzed the state of lane-change vehicle and other associated vehicles, and the optional lane-change behavior based on this to vehicle carries out rationalization, realizes the safe efficient implementation of optional lane-change behavior.

Description

The optional lane-change control method of vehicle on highway under a kind of car networking environment
Technical field：
Highway under driving control method, more particularly to a kind of car networking environment is cooperateed with the present invention relates to a kind of vehicle The optional lane-change control method of vehicle.
Background technology：
With the high speed development of social economy, China's motor vehicles for civilian use recoverable amount is continuously increased, national civilian to year ends 2016 Car ownership is up to 194,400,000, compared to 2015 year end increases by 12.8%.However, due to the limitation such as investment and space, the whole nation Level Four and ratings above highway mileage only increase by 4.3%, highway track mileage only increases by 5.4%, much motor vehicles for civilian use Growth rate, causes road traffic pressure increasingly to increase.On the basis of increase road infrastructure is not invested on a large scale, with nothing The development of intelligent transportation system and automatic Pilot technology under the conditions of the development of line communication technology, car networking is possible to make full use of Path resource, excavates road passage capability, slows down road traffic pressure.
Join automobile for intelligent network, Ministry of Industry and Information is classified as four in its intelligent network issued connection automotive engineering route map Developing stage：First stage for drive aid in, including adaptive navigation, automatic emergency brake, track keep, auxiliary park； Second stage is part automatic Pilot, including automatic Pilot, lane-change aid in, automatically parked in track；Phase III is to have The automatic Pilot of condition, including highway automatic Pilot, Highway of suburb automatic Pilot, cooperating type platoon driving, intersection lead to Row auxiliary etc.；Fourth stage drives to be fully automated, including bus or train route Collaborative Control, urban district automatic Pilot and unmanned etc..This The phase III that invention is developed based on automatic Pilot, i.e., conditional automatic Pilot, it is considered to which in highway, vehicle is with wireless Communication modes (such as LTE-V, Wi-Fi, bluetooth, DSRC) are communicated in real time with other vehicles in communication context, most of cars With queue form cooperate with travel.
Existing research is analyzed, the lane-change model under most of car networking environment lacks to be developed to automatic Pilot difference Control strategy is treated with a certain discrimination in stage, also lacks the difference pair to forcing control strategy in lane-change and optional lane-change behavior Treat.Join the developing stage of automobile the 3rd for intelligent network, vehicle can carry out Real Data Exchangs with other vehicles in communication context With cooperateing with driving, but complete automatic Pilot can not be reached.In this stage, most of vehicles in highway are with team Row mode cooperates with traveling, but will certainly produce the problem of lane-change is to enter or leave queue.Changed relative to conventional high rate highway Lane-change model under road model and fully automated driving, the present invention is directed to public in intelligent network connection automobile the 3rd developing stage high speed Road vehicles because of special traffic must lane-change as early as possible pressure lane-change problem, specify that in lane-change vehicle and communication range The reaction that should be made during lane-change of nearby vehicle, provide support for automatic Pilot.
The content of the invention
The purpose of the present invention is that there is provided highway car under a kind of car networking environment for the security based on vehicle operation Optional lane-change control method, is that auxiliary drives and automatic Pilot provides support.This method is to lane-change vehicle and other correlations The state of vehicle is analyzed, and the optional lane-change behavior based on this to vehicle carries out rationalization, realizes optional lane-change The safe efficient implementation of behavior.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of optional lane-change control method of vehicle on highway under car networking environment, described optional lane-change is lane-change Vehicle to improve vehicle running state, and front vehicles travel speed it is relatively low when, shift to traffic behavior preferable lie traveling Behavior, this method is：Under car networking environment, the vehicle travelled on a highway can pass through wireless communication mode and communication model Nearby vehicle in enclosing realizes truck traffic and carries out real-time data exchange, when certain vehicle has optional lane-change demand, should Vehicle sends request to neighbouring vehicle, obtains other vehicle locations, velocity information, according to different in vehicle-surroundings communication range Traffic behavior is judged that the pressure lane-change behavior to lane-change vehicle is controlled, and realizes safe, the height of optional lane-change behavior Effect is implemented.
The optional lane-change control method of vehicle on highway under described car networking environment, the content bag of the data exchange Vehicle location, travel speed, acceleration are included, vehicle location includes vehicle place track and corresponding to a certain reference point along at a high speed Horizontal stroke, the fore-and-aft distance in highway median strip direction, the vehicle travelled on a highway need to be observant of traffic rules, including Highway Maximum speed limit vmax, minimum speed limit vmin, peak acceleration aa, maximum deceleration ad, minimum safe spacing hsafeDeng, And car speed when being sailed in fleet's form with speeding in fleet is equal and is cooperateed with and advances with identical speed by car car networking, And the vehicle headstock spacing in queue is not less than safe spacing.
The optional lane-change control method of vehicle on highway, described to be communicated according to vehicle-surroundings under described car networking environment In the range of different traffic behavior judged that the method that the pressure lane-change behavior to lane-change vehicle is controlled is：
Represent to need the speed of the vehicle of lane-change with v, x is its lengthwise position；vSide, afterRepresent that lengthwise position exists on target track Lane-change vehicle front, and the speed of the vehicle nearest apart from lane-change vehicle, xSide, afterFor its lengthwise position；vSide, it is precedingRepresent target track Upper lengthwise position is in lane-change rear view of vehicle, and the speed of the vehicle nearest apart from lane-change vehicle, xSide, it is precedingFor its lengthwise position；vSide, end Represent that lengthwise position is in lane-change rear view of vehicle on target track, and the speed of the vehicle positioned at lie fleet tail of the queue, xSide, endFor it Lengthwise position；This track front truck is defined as on track where lane-change vehicle lengthwise position in lane-change vehicle front, and apart from lane-change V under the nearest vehicle of vehicle, original stateSide, it is preceding=vSide, after=vSide, end,
If being immediately performed lane-change without other vehicles on lie；
If having front truck on lie and without rear car, lie front truck and the state of itself being judged：
1. preceding vehicle speed is more than or equal to lane-change car speed and has met safe spacing condition, i.e. vSide, it is preceding>=v and xSide, it is preceding-x≥hsafe, then it is immediately performed lane-change；
2. preceding vehicle speed is more than or equal to lane-change car speed but is unsatisfactory for safe spacing condition, i.e. vSide, it is preceding>=v and xSide, it is preceding-x <hsafe, then lane-change vehicle is with maximum deceleration afSlowed down, when a period of time lane-change vehicle for reaching following condition stops slowing down：
C) lane-change vehicle reaches the minimum speed limit v of highwaymin；
D) safe spacing is reached with lie front truck,
If condition b) is first met, when meeting condition, i.e. xSide, it is preceding'-x '=hsafeWhen, lane-change vehicle stops slowing down and holding Row lane-change；
If condition a) is first met, lane-change vehicle stops the v that slows down and keepmin, until condition b) performs lane-change when meeting. After lane-change behavior is finished, lane-change vehicle is again with peak acceleration aaAccelerate to vehicle speed v before lieSide, it is preceding,
3. preceding vehicle speed is less than lane-change vehicle speed, i.e. vSide, it is preceding<V, then lane-change car is with maximum deceleration adIt is decelerated to vSide, it is preceding, After two vehicle speeds are equal, it is considered as the original state for having front truck also to have rear car, rejudges lane-change condition and held according to correlation method Row control.
If there is rear car on lie without front truck, if rear vehicle speed is less than or equal to lane-change vehicle speed and met between safety Away from condition, i.e. vSide, after≤ v and x-xSide, after≥hsafe, then lane-change vehicle be immediately performed lane-change；Otherwise, lane-change vehicle needs in principle Continue the front vehicles with speeding on lane-change track, wait the fleet on lie to be all contemplated that lane-change more than oneself rear；First To the front vehicles v on lane-change car speed v, lane-change trackThis, it is precedingAnd lie fleet speed vIt is otherJudged, due to for improve car The optional lane-change of transport condition, then vIt is otherV must be more thanThis, it is preceding, and v must be not less than vThis, it is preceding,
If lane-change vehicle is normal with front vehicles of speeding, i.e. vThis, it is preceding=v<vIt is other, then when lie fleet last bus is travelled to lane-change car In front of outside safe distance, i.e. xSide, end'-x '=hsafeWhen, lane-change vehicle performs lane-change, with most after lane-change behavior is finished High acceleration aaAccelerate to vIt is other；
If lane-change car speed is more than vehicle speed before this track but less than lie fleet speed, i.e. vThis, it is preceding<v<vIt is other, then on side Road fleet last bus carries out lane-change when travelling to outside lane-change vehicle front safe distance, in lane-change, lane-change vehicle need with front truck, The last bus of lie fleet keeps safe distance, i.e. xSide, end'-x '=hsafeAnd xBefore′-x′≥hsafe；
If 1. lane-change vehicle can continue to keep speed v, the lane-change after time t is wanted, it is necessary to which following inequality group has Solution：
When above inequality group has solution, lane-change vehicle existsMoment performs lane-change；Otherwise, lane-change car Need deceleration to carry out lane-change safely, continue executing with 2.；
If 2. 1. in inequality without solution, need lane-change vehicle with maximum deceleration adSlowed down, until meet with One of lower two conditions：
C) lie fleet last bus is travelled to outside lane-change vehicle front safe distance, i.e. xSide, end'-x '=hsafe；
D) speed is equal with vehicle speed before this track, i.e. v '=vThis, it is preceding。
If condition a) is first met, when meeting condition, lane-change vehicle stops slowing down and performing lane-change；If condition b) is first full Foot, then when meeting condition, lane-change vehicle stops slowing down, and keeps vThis, it is preceding, until lane-change when meeting condition a).After the completion for the treatment of lane-change, Lane-change vehicle is with peak acceleration aaAccelerate to vSide, end；
If lane-change car speed is more than lie fleet speed, i.e. vThis, it is preceding<vIt is other≤ v, then lane-change vehicle needs are first is subtracted with maximum Speed adIt is decelerated to the speed for being less than lie fleet speed, i.e. v '<vIt is other, it can ensure that lie fleet exceedes lane-change vehicle, Stop slowing down in a period of time for meeting following condition：
C) lie fleet last bus is travelled to outside lane-change vehicle front safe distance, i.e. xSide, end'-x '=hsafe；
D) speed is equal with vehicle speed before this track, i.e. v '=vThis, it is preceding。
If condition a) is first met, when meeting condition, lane-change vehicle stops slowing down and performing lane-change；If condition b) is first full Sufficient, then lane-change vehicle keeps vThis, it is preceding, until performing lane-change when meeting condition a).Treat after the completion of lane-change, lane-change vehicle is with most greatly Speed aaAccelerate to vSide, end。
Beneficial effect：
Compared with prior art, the method have the characteristics that：
Present invention is particularly directed to the intelligent network connection development of automobile phase III, i.e., under the conditions of conditional automatic Pilot, at a high speed Most of vehicles on highway cooperate with the situation of traveling in queue mode, are more suitable for the process of car networking development；
The present invention for vehicle because of the special traffic must lane-change as early as possible optional lane-change problem so that vehicle Lane-change process can reduce the influence to other vehicles to greatest extent, full out realize lane-change as far as possible on this basis, and Ensure rapid, the safety of lane-change.
Brief description of the drawings
Fig. 1 is control flow chart；
Fig. 2 be generally two-way traffic Expressway Implementing example original state；
Fig. 3 is that two-way traffic Expressway Implementing illustrates intention.Fig. 3-(a) is no front truck also implementation illustration without rear car；Figure 3- (b) is that have front truck but the implementation illustration without rear car；Fig. 3-(c) is no front truck but has rear car, and lane-change vehicle shifts to lie car Implementation illustration in front of team；Fig. 3-(d) is no front truck but has rear car, and lane-change vehicle shifts to the embodiment at lie fleet rear Figure；Fig. 3-(e) is the implementation illustration for having front truck also to have rear car.
Embodiment
With reference to embodiment, the present invention is furture elucidated, it should be understood that following embodiments are only used for The bright present invention rather than limitation the scope of the present invention.
Embodiment 1：
The present embodiment be based on it is assumed hereinafter that：
(1) embodiment is under the highway car networking environment that car car is interconnected, between each vehicle with DSRC (no Harm is by taking DSRC as an example) technology is attached, and communication range is 300 meters, can mutual real-time exchange car status information；
(2) information transfer and processing speed it is sufficiently fast, can be considered moment complete, during data packetloss and transmission, place Reason delay is negligible；
(3) vehicle can carry out accurately acceleration, deceleration-operation, and strict safety spacing condition according to control strategy；
(4) it can not ignore the time required to vehicle lane-changing process, but the longitudinal velocity of its speed is approximately equal to its speed；
(5) the most of vehicle travelled on a highway is travelled in queue form, and fore-and-aft distance is not small between vehicle In safe spacing.
Fig. 1 is the vehicle lane-changing organizational controls flow chart under car car networking environment.The implementation of two-way traffic highway situation Example scene is shown in that vehicle 1 is the vehicle for needing to carry out lane-change in Fig. 2, figure, and it may nearby have the front vehicles travelled at a slow speed Vehicle platoon (vehicle 4,5,6,7 in figure, and 7 be lie car in queue (in figure vehicle 2 with vehicle 3), the track that will be changed to Last bus in team).Vehicle 1 is with speed v1Traveling, front vehicles queue is with speed v2Traveling, vehicle platoon on adjacent lane with v3Traveling.These vehicles defer to peak acceleration aaAnd maximum deceleration ad.I-th car is vertical relative to a certain reference point of road It is x to distancei。
1) vehicle 1-7 can mutual accessible carry out Real Data Exchangs in real time, data exchange content includes vehicle position Put, travel speed, acceleration, vehicle drive behavior (such as lane-change, with speeding) information.Wherein, vehicle location includes vehicle place Track and horizontal stroke, fore-and-aft distance corresponding to a certain reference point along Expressway Central Strip direction.These vehicles are tight Lattice observe certain traffic rules, such as highway Maximum speed limit vmax, minimum speed limit vmin, peak acceleration aa, maximum deceleration Spend ad, minimum safe spacing hsafeDeng vehicle 2-3, vehicle 4-7 are sailed in fleet's form with speeding on, the car speed in fleet It is equal and cooperateed with and advance with identical speed by car car networking, and mutual space headway is not less than safe spacing.
2) when vehicle 1 has optional lane-change demand, vehicle 1 sends request to neighbouring vehicle, obtain other vehicle locations, The information such as speed.Optional lane-change be vehicle 1 be intended to improve vehicle running state, and front vehicles travel speed it is relatively low when change To the behavior of the preferable lie traveling of traffic behavior, i.e. v2≤v1, and v3>v2。
3) judged according to traffic behavior different in the range of vehicle communication, if without car, i.e., front and rear 300 meters of models on lie Vehicle 4-7, such as Fig. 3 (a) are not present in enclosing, then can direct lane-change；Have front truck on if the lie and without rear car, i.e., before and after 300 meters In the range of only vehicle 4,5 and without vehicle 6,7, then into step 3-1)；There is rear car on lie without front truck, i.e., it is front and rear 300 meters In the range of only vehicle 6,7 and without vehicle 4,5, then into step 3-2)；If there is front truck also to have rear car on lie, i.e., front and rear 300 There is vehicle 4-7 in the range of rice, then into step 3-3).Wherein, vehicle 5 be on lie lengthwise position in the front of vehicle 1, and away from The vehicle nearest from vehicle 1, i.e. lie front truck；Vehicle 6 is that lengthwise position is and nearest apart from vehicle 1 at the rear of vehicle 1 on lie Vehicle, i.e. lie rear car；Vehicle 7 be lie on lengthwise position at the rear of vehicle 1, and positioned at place team of fleet end vehicle, That is lie last bus.
3-1) such as Fig. 3 (b), only vehicle 4,5 without vehicle 6,7, the state to vehicle 1 and vehicle 5 judges：
If 1. v3≥v1And x5-x1≥hsafe, then it is immediately performed lane-change；
If 2. v3≥v1And x5-x1<hsafe, then vehicle 1 is with maximum deceleration adSlowed down, when reaching one of following condition When vehicle 1 stop accelerate：
A) vehicle 1 reaches the minimum speed limit v of highwaymin；
B) vehicle 1 reaches safe spacing with vehicle 5.
If condition b) is first met, i.e., in x5′-x1'=hsafeWhen, vehicle 1 stops slowing down and performing lane-change；If condition a) is first Meet, then vehicle 1 keeps vmin, until performing lane-change when meeting condition b).Treat that lane-change behavior is finished rear vehicle 1 with maximum Acceleration aaAccelerate to v3。
If 3. v3<v1, then vehicle 1 is with maximum deceleration adIt is decelerated to v3.V is decelerated in vehicle 13Afterwards, step is re-executed 3-1)。
3-2) such as Fig. 3 (c), i.e., only vehicle 6,7 and without vehicle 4,5, if then v3≤v1And x1-x6≥hsafe, then vehicle 1 is vertical Perform lane-change；Otherwise, into step 3-3).
3-3) in this step, vehicle 1 needs to continue in principle with vehicle 3 of speeding, and waits vehicle 7 to be examined after exceeding oneself Consider lane-change, such as Fig. 3 (d) or Fig. 3 (e).First to the speed v of vehicle 11, vehicle 2 speed v2And vehicle 4-7 speed v3Carry out Judge.Due to improve the optional lane-change of vehicle running state, then v3V must be more than2, and v1V must be not less than2.If v2=v1< v3, then it is transferred to step 3-4)；If v2<v1<v3, then it is transferred to step 3-5)；If v2<v3≤v1, then it is transferred to step 3-6).
3-4) in this step, vehicle 1 is normal with vehicle 3 of speeding.When vehicle 7 is travelled to outside the front safe distance of vehicle 1, i.e., x7′-x1'=hsafeWhen, the i.e. executable lane-change of vehicle 1, with peak acceleration a after lane-change behavior is finishedaAccelerate to v3。
3-5) in this step, the speed of vehicle 1 is more than the speed of vehicle 3 but less than the speed of vehicle 7.Now, travelled in vehicle 7 Lane-change is carried out when outside to the front safe distance of vehicle 1.Before lane-change, vehicle 1 need with vehicle 3, vehicle 7 keeps safely away from From i.e. x7′-x1'=hsafeAnd x3′-x1′≥hsafe。
If 1. vehicle 1 can continue to keep speed v, the lane-change after time t is wanted, it is necessary to which following inequality group has solution：
When above inequality group has solution, vehicle 1 existsMoment performs lane-change；Otherwise, vehicle 1 needs to subtract Speed can carry out lane-change safely, perform step 2.；
If 2. 1. in inequality without solution, need vehicle 1 with maximum deceleration adSlowed down, until meeting following two One of individual condition：
A) vehicle 7 is travelled to outside the front safe distance of vehicle 1, i.e. x7′-x1'=hsafe；
B) speed is equal with the speed of vehicle 2, i.e. v1'=v2。
If condition a) is first met, vehicle 1 stops slowing down and performing lane-change when meeting condition；If condition b) is first met, Then vehicle 1 stops the v that slows down and keep2, until performing lane-change when meeting condition a).Treat after the completion of lane-change, vehicle 1 is accelerated with maximum Spend aaAccelerate to v3。
3-6) in this step, the speed of vehicle 1 is more than the speed of vehicle 7.Then vehicle 1 is needed first with maximum deceleration adSlow down To the speed for being less than the speed of vehicle 7, i.e. v1′<v3, can ensure that vehicle 7 exceedes vehicle 1.Meeting one of following condition car Stop slowing down when 1：
A) vehicle 7 is travelled to outside the front safe distance of vehicle 1, i.e. x7′-x1'=hsafe；
B) vehicle 1 is decelerated to the speed of vehicle 3, i.e. v1'=v2。
If condition a) is first met, vehicle 1 stops slowing down and performing lane-change when meeting condition；If condition b) is first met, Then vehicle 1 stops the v that slows down and keep2, until performing lane-change when meeting condition a).Treat after the completion of lane-change, vehicle 1 is accelerated with maximum Spend aaAccelerate to v3。
It should be pointed out that above-mentioned embodiment is only intended to clearly illustrate example, and not to embodiment Limit, there is no necessity and possibility to exhaust all the enbodiments.Each part being not known in the present embodiment Realized with prior art.For those skilled in the art, the premise of the principle of the invention is not being departed from Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (3)

1. the optional lane-change control method of vehicle on highway under a kind of car networking environment, it is characterised in that described is optional Lane-change be lane-change vehicle be improve vehicle running state, and front vehicles travel speed it is relatively low when, shift to traffic behavior preferable The behavior of lie traveling, this method is：Under car networking environment, the vehicle travelled on a highway can be by wireless telecommunications side Formula realizes truck traffic and carries out real-time data exchange with the nearby vehicle in communication context, when certain vehicle has optional lane-change During demand, the vehicle sends request to neighbouring vehicle, obtains other vehicle locations, velocity information, according to vehicle-surroundings communication model Enclose interior different traffic behavior to be judged, the pressure lane-change behavior to lane-change vehicle is controlled, realize optional lane-change row For safe efficient implementation.
2. the optional lane-change control method of vehicle on highway under car networking environment according to claim 1, its feature exists Include vehicle location, travel speed, acceleration in the content of, the data exchange, track where vehicle location includes vehicle with And horizontal stroke, fore-and-aft distance corresponding to a certain reference point along Expressway Central Strip direction, the car travelled on a highway Need are observant of traffic rules, including highway Maximum speed limit vmax, minimum speed limit vmin, peak acceleration aa, maximum subtracts Speed ad, minimum safe spacing hsafeDeng, and car speed when being sailed in fleet's form with speeding in fleet is equal and by car Car networking is cooperateed with identical speed and advanced, and the vehicle headstock spacing in queue is not less than safe spacing.
3. the optional lane-change control method of vehicle on highway under car networking environment according to claim 1, its feature exists In, it is described to be judged according to traffic behavior different in vehicle-surroundings communication range, to the pressure lane-change behavior of lane-change vehicle The method being controlled is：
Represent to need the speed of the vehicle of lane-change with v, x is its lengthwise position；vSide, afterRepresent that lengthwise position is in lane-change car on target track Front, and the speed of the vehicle nearest apart from lane-change vehicle, xSide, afterFor its lengthwise position；vSide, it is precedingRepresent longitudinal direction on target track Position is in lane-change rear view of vehicle, and the speed of the vehicle nearest apart from lane-change vehicle, xSide, it is precedingFor its lengthwise position；vSide, endRepresent mesh Lengthwise position is in lane-change rear view of vehicle on mark track, and the speed of the vehicle positioned at lie fleet tail of the queue, xSide, endFor its longitudinal position Put；This track front truck is defined as on track where lane-change vehicle lengthwise position in lane-change vehicle front, and apart from lane-change vehicle most V under near vehicle, original stateSide, it is preceding=vSide, after=vSide, end,
If being immediately performed lane-change without other vehicles on lie；
If having front truck on lie and without rear car, lie front truck and the state of itself being judged：
1. preceding vehicle speed is more than or equal to lane-change car speed and has met safe spacing condition, i.e. vSide, it is preceding>=v and xSide, it is preceding-x≥ hsafe, then it is immediately performed lane-change；
2. preceding vehicle speed is more than or equal to lane-change car speed but is unsatisfactory for safe spacing condition, i.e. vSide, it is preceding>=v and xSide, it is preceding-x< hsafe, then lane-change vehicle is with maximum deceleration adSlowed down, when a period of time lane-change vehicle for reaching following condition stops slowing down：
A) lane-change vehicle reaches the minimum speed limit v of highwaymin；
B) safe spacing is reached with lie front truck,
If condition b) is first met, when meeting condition, i.e. xSide, it is preceding'-x '=hsafeWhen, lane-change vehicle stops slowing down and performing changing Road；
If condition a) is first met, lane-change vehicle stops the v that slows down and keepmin, until condition b) performs lane-change when meeting.It is to be changed After road behavior is finished, lane-change vehicle is again with peak acceleration aaAccelerate to vehicle speed v before lieSide, it is preceding,
3. preceding vehicle speed is less than lane-change vehicle speed, i.e. vSide, it is preceding<V, then lane-change car is with maximum deceleration adIt is decelerated to vSide, it is preceding, in two cars After speed is equal, it is considered as the original state for having front truck also to have rear car, rejudges lane-change condition and perform control according to correlation method System.
If there is rear car on lie without front truck, if rear vehicle speed is less than or equal to lane-change vehicle speed and has met safe spacing bar Part, i.e. vSide, after≤ v and x-xSide, after≥hsafe, then lane-change vehicle be immediately performed lane-change；Otherwise, lane-change vehicle needs to continue in principle With the front vehicles speeded on lane-change track, the fleet on lie is waited all to be contemplated that lane-change more than oneself rear；Exchange first Front vehicles v on road car speed v, lane-change trackThis, it is precedingAnd lie fleet speed vIt is otherJudged, due to for improve vehicle row The optional lane-change of state is sailed, then vIt is otherV must be more thanThis, it is preceding, and v must be not less than vThis, it is preceding,
If lane-change vehicle is normal with front vehicles of speeding, i.e. vThis, it is preceding=v<vIt is other, then when lie fleet last bus is travelled to lane-change vehicle front Outside safe distance, i.e. xSide, end'-x '=hsafeWhen, lane-change vehicle performs lane-change, with maximum acceleration after lane-change behavior is finished Spend aaAccelerate to vIt is other；
If lane-change car speed is more than vehicle speed before this track but less than lie fleet speed, i.e. vThis, it is preceding<v<vIt is other, then in lie car Team's last bus carries out lane-change when travelling to outside lane-change vehicle front safe distance, in lane-change, and lane-change vehicle needs and front truck, lie The last bus of fleet keeps safe distance, i.e. xSide, end'-x '=hsafeAnd xBefore′-x′≥hsafe；
If 1. lane-change vehicle can continue to keep speed v, the lane-change after time t is wanted, it is necessary to which following inequality group has solution：
When above inequality group has solution, lane-change vehicle existsMoment performs lane-change；Otherwise, lane-change vehicle is needed Lane-change can be carried out safely by slowing down, and be continued executing with 2.；
If 2. 1. in inequality without solution, need lane-change vehicle with maximum deceleration adSlowed down, until meeting following two One of condition：
A) lie fleet last bus is travelled to outside lane-change vehicle front safe distance, i.e. xSide, end'-x '=hsafe；
B) speed is equal with vehicle speed before this track, i.e. v '=vThis, it is preceding。
If condition a) is first met, when meeting condition, lane-change vehicle stops slowing down and performing lane-change；If condition b) is first met, When meeting condition, lane-change vehicle stops slowing down, and keeps vThis, it is preceding, until lane-change when meeting condition a).After the completion for the treatment of lane-change, lane-change Vehicle is with peak acceleration aaAccelerate to vSide, end；
If lane-change car speed is more than lie fleet speed, i.e. vThis, it is preceding<vIt is other≤ v, then lane-change vehicle needs are first with maximum deceleration ad It is decelerated to the speed for being less than lie fleet speed, i.e. v '<vIt is other, can ensure that lie fleet exceedes lane-change vehicle, meet A period of time of following condition stops slowing down：
A) lie fleet last bus is travelled to outside lane-change vehicle front safe distance, i.e. xSide, end'-x '=hsafe；
B) speed is equal with vehicle speed before this track, i.e. v '=vThis, it is preceding。
If condition a) is first met, when meeting condition, lane-change vehicle stops slowing down and performing lane-change；If condition b) is first met, Lane-change vehicle keeps vThis, it is preceding, until performing lane-change when meeting condition a).Treat after the completion of lane-change, lane-change vehicle is with peak acceleration aa Accelerate to vSide, end。
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