The invention provides an automatic driving vehicle collaborative lane changing strategy considering dynamic risk information, and the method is mainly divided into three parts: firstly, constructing a queue collaborative lane changing control architecture, taking a queue collaborative lane changing decision making method considering the dynamic risk information as a decision making layer, and taking queue collaborative lane changing control based on a four-element method as a control layer; and the two are cooperated to complete decision making and control of queue vehicles and lane changing vehicles. Then, by analyzing the motion states of the lane changing vehicles and the queue vehicles, the relative positions and the relative speeds serve as main influence factors, and an optimal cut-in position determining method and lane changing allowing conditions of the lane changing vehicles are given; a risk field with road traffic participants as a field source is designed based on the field theory, the risk field is used as a decision factor of a transverse lane changing track of a lane changing vehicle, and a transverse lane changing track dynamic planning model is constructed. Finally, on the basis of the basic structure of the four-element model, the linear two-degree-of-freedom dynamic model serves as transverse dynamics of vehicle nodes, the characteristics of the queue vehicles compared with single vehicles are considered, and the mass-spring-damper model serves as longitudinal dynamics of the vehicle nodes; the queue expected configuration selects a constant time headway strategy; taking a PLF structure as an information flow topological structure of a queue; and respectively designing a transverse controller based on MPC and a longitudinal controller based on linear control.

    本发明提出了一种考虑动态风险信息的自动驾驶车辆协同换道策略,该方法主要分为三个部分,首先构建队列协同换道控制架构,以考虑动态风险信息的队列协同换道决策方法作为决策层,基于四元素法的队列协同换道控制作为控制层,二者协同配合完成队列车辆和换道车辆的决策与控制。之后通过分析换道车辆和队列车辆的运动状态,将相对位置和相对速度作为主要影响因素,给出换道车辆的最佳切入位置确定方法和换道允许条件;基于场论设计以道路交通参与者为场源的风险场,并将其作为换道车辆横向换道轨迹的决策因素,构建横向换道轨迹动态规划模型。最终基于四元素模型的基本结构,将线性二自由度动力学模型作为车辆节点的横向动力学,考虑队列车辆相较于单车的特征,将质量‑弹簧‑阻尼器模型作为车辆节点的纵向动力学;队列期望构型选择恒定车头时距策略;以PLF结构作为队列的信息流拓扑结构;分别设计基于MPC的横向控制器和基于线性控制的纵向控制器。


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    Titel :

    Automatic driving vehicle cooperative lane changing strategy considering dynamic risk information


    Weitere Titelangaben:

    一种考虑动态风险信息的自动驾驶车辆协同换道策略


    Beteiligte:
    LIU MIAOMIAO (Autor:in) / YAO MINKUN (Autor:in) / ZHU MINGYUE (Autor:in) / LI PENGRUI (Autor:in) / LIU XIAOCHEN (Autor:in) / HU MINGZHOU (Autor:in) / FENG GANLIN (Autor:in) / TANG RENJING (Autor:in) / LIN WEIQUN (Autor:in)

    Erscheinungsdatum :

    29.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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