The invention discloses a vehicle collaborative forced lane change control method for a highway traffic incident section in a V2X environment. The method is also a vehicle collaborative forced lane change control system for the highway traffic incident section in the V2X environment. The method comprises the following steps: firstly, providing a road effective traffic capacity detection method based on an improved neural network to detect a traffic event road section and an operation state; secondly, on the basis of the V2X technology, a vehicle longitudinal driving control method considering a lane change detection factor and a vehicle collision avoidance position is proposed in a traffic event road section; and constructing a game model considering the vehicle-mounted driving stability, the driving time and the comfort under the condition that the transverse forced lane change needs to be carried out to calculate a target lane combination sequence, finally judging whether a lane change condition is met by calculating a forced lane change feasible point, and controlling the vehicle to complete the transverse forced lane change process. By means of the method, the vehicle can be controlled to safely, efficiently and stably complete transverse and longitudinal driving on the traffic incident road section.
本发明公开了一种V2X环境下高速公路交通事件路段车辆协同强制换道控制方法,该方法也是一种V2X环境下高速公路交通事件路段车辆协同强制换道控制系统。本发明首先提出基于改进神经网络的道路有效通行能力检测方法,检测交通事件路段及运行状态;其次在交通事件路段中基于V2X技术,提出考虑换道检测因数与车辆避撞位置车辆纵向行驶控制方法;再次在需要进行横向强制换道的情况下构建考虑后随车行驶稳定性、行驶时间及舒适性的博弈模型来计算目标车道合并序列,最后通过计算强制换道可行点判别是否满足换道条件,控制车辆完成横向强制换道过程。通过此方法能控制车辆在交通事件路段上安全、高效、平稳地完成车辆横纵向行驶。
Vehicle cooperative forced lane change control method for highway traffic incident section in V2X environment
一种V2X环境下高速公路交通事件路段车辆协同强制换道控制方法
2023-07-04
Patent
Electronic Resource
Chinese
Vehicle cooperative lane changing guiding method based on highway traffic accident
European Patent Office | 2023
|Highway Traffic Scenario-Based Lane Change Strategy for Autonomous Vehicle
Springer Verlag | 2018
|