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针对现有自动换道控制策略存在未考虑换道过程中周围车辆运动状态变化影响的不足,提出了一种基于车-车通信的自动换道控制策略,主要包括动态换道轨迹规划和滑模轨迹跟踪控制。其中,动态换道轨迹规划方法能够根据车-车通信所提供的实时信息更新参考换道轨迹,使得换道车辆适应周围车辆运动状态变化,通过求解基于换道时间和换道距离的带约束非线性优化问题,实时地获取换道过程中约束条件增加或发生改变情形下的安全参考换道轨迹。滑模轨迹跟踪控制通过车辆实际位姿和期望位姿之间的偏差计算轨迹跟踪所需期望速度和横摆角速度。仿真结果表明:所提出的控制策略能有效解决在换道过程中周围车辆车速变化或车辆切入等情况下的自动换道难题,从而能够实现安全舒适的自动换道过程。
Aiming at the deficiency of the existing automatic lane change control strategy that the influence of the surrounding vehicle movement state changes during the lane change is not considered, an automatic lane change control strategy based on the vehicle-vehicle communication is proposed, which mainly includes dynamic lane change track planning and sliding mode Trajectory tracking control. The dynamic lane change trajectory planning method can update the reference lane change trajectory according to the real-time information provided by the vehicle-vehicle communication, so that the lane change vehicle can adapt to changes of the surrounding vehicle movement states. By solving the constraint non-constraint based on lane change time and lane change distance The linear optimization problem is solved in real-time by obtaining the safety reference lane change trajectory under the condition of increasing or changing constraints during lane changing. The sliding mode trajectory tracking control calculates the desired velocity and yaw rate required for trajectory tracking by the deviation between the actual attitude and the expected attitude of the vehicle. The simulation results show that the proposed control strategy can effectively solve the automatic lane change problem under the circumstance of lane changing speed or vehicles entering the lane, so as to realize safe and comfortable automatic lane changing process.