The invention discloses a centralized control method for cooperative lane change of networked vehicles, which comprises the following steps of: aiming at an inlet lane of an urban intersection, firstly collecting and inputting information of the intersection, including the number of lanes, the width of the lanes, the length of a lane change area and the like, discretizing the lane change area into a plurality of grids, and establishing a rectangular coordinate system; collecting vehicle information on each entrance lane, wherein the vehicle information comprises the number of vehicles, the position of an initial lane, the position of a target lane, the time for entering and leaving a lane changing area and the like; taking the minimum number of times of lane changing of all vehicles in a lane changing area as a target function, setting constraint conditions for x-axis running and y-axis lane changing of the vehicles, and taking the situation that each step of each grid is occupied by only one vehicle as a safety constraint, establishing a centralized control lane changing model, and calculating a running scheme of each vehicle. According to the method, the driving tracks of all the vehicles in the lane changing area are uniformly planned, the cooperative capability of the intelligent network connection vehicles is exerted, cooperative lane changing is achieved, the lane changing efficiency is improved, and the lane changing risk is reduced.
本发明公开了一种网联车辆协同换道集中式控制方法,针对城市交叉口进口车道,首先采集并输入交叉口的信息,包括车道数、车道宽度、换道区域长度等,并将换道区域离散化分为若干网格,并建立直角坐标系;然后采集各进口道上的车辆信息,包括车辆数、初始车道位置、目标车道位置、进入和离开换道区域的时间等。以换道区域内所有车辆换道次数最小为目标函数,分别针对车辆在x轴向行驶和y轴向换道设置约束条件,并以每个网格每一步只被一辆车占用为安全约束,建立集中式控制换道模型,计算每辆车的行驶方案。本发明方法通过统一规划换道区域内所有车辆的行驶轨迹,发挥智能网联车辆协作能力,实现协同换道,提高换道效率,降低换道风险。
Centralized control method for cooperative lane change of networked vehicles
一种网联车辆协同换道集中式控制方法
2023-08-22
Patent
Electronic Resource
Chinese
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |