Multi-objective planning of high-speed lane changing trajectory based on V2V
1. Key Laboratory of Automotive Transportation Safety Enhancement Technology of the Ministry of Communication, Chang′an University,Xi′an, Shaanxi 710064, China; 2. School of Automobile, Chang′an University, Xi′an, Shaanxi 710064, China
Abstract：To solve the problems of poor flexibility and low safety of sensor-type intelligent vehicles on lane changing, a high-speed lane changing model was proposed based on vehicles to vehicles（V2V）mode. At the start of lane changing, all conditions of the surrounding traffic vehicles were determined through V2V, and the minimum safe distance of lane changing with the surrounding traffic vehicles was obtained to judge the feasibility of lane changing. A polynominal function was used to describe the trajectory under the permission of lane changing conditions. The objective function for balancing the comfort and efficiency was established to implement the multi-objective planning of lane changing trajectory for selecting an optimal trajectoty under the traffic environment. The results show that when the lane changing space is not enough, compared with the non-V2V lane changing model, the vehicle can maintain larger safe distance from surrounding vehicles by V2V mode. In the CarSim simulation, the trajectory tracking error and dynamic parameters of the vehicle are controlled within reasonable range, which indicates that the multi-objective optimized trajectory can comprehensively improve the effect of lane changing and enable the vehicle to adapt to the flexible traffic environments.
WANG S M, XU J M, LUO Q, et al. Vehicle′s lane change safety warning model for expressway［J］. Journal of South China University of Technology(Natural Science Edition), 2014, 42(12):40-50. (in Chinese)
YANG Z G, QI Z J, HUANG Y. Trajectory planning of lane changing for intelligent vehicles［J］. Journal of Chongqing Jiaotong University(Natural Science Edition), 2013, 32(3): 520-524. (in Chinese)
［4］
WANG C, LI Z, FU R, et al. Lane change safety assessment of coaches in naturalistic driving state［J］. Safety Science, 2019,119:126-132.
［5］
TEHRANI H,MUTO K,YONEDA K, et al. Evaluating human＆computer for expressway lane changing［C］∥25th IEEE Intelligent Vehicles Symposium. Piscataway, USA:IEEE, 2014:382-387.
［6］
LUO Y G， XIANG Y， CAO K， et al. A dynamic automated lane change maneuver based on vehicle-to-vehicle communication［J］. Transportation Research Part C, 2016, 62:87-102.
［7］
JULA H, KOSMATOPOULOS E, IOANNOU P. Collision avoidance analysis for lane changing and merging［J］. IEEE Transactions on Vehicular Technology, 2000, 49(6):2295-2308.
［8］
中国通信学会.车联网技术、标准与产业发展态势前沿报告 ［R］.2018.
［9］
ALIA C, REINE T, ALI C. Maneuver planning for autonomous vehicles with clothoid tentacles for local tra-jectory planning［C］∥2017 IEEE 20th International Conference on Intelligent Transportation Systems. Piscataway, USA:IEEE, 2017:1-6.
SUN C, WU C Z, CHU D F, et al. Safety evaluation of driving on curves based on analysis of vehicle lateral stability［J］. Journal of Transport information and Safety, 2014, 32(6): 95-100. (in Chinese)
ZHANG X F, LI C Y, XIA B K. Lane changing trajectory planning for intelligent vehicle based on steady steering characteristics［J］. Automobile Technology, 2019 (7): 13-18. (in Chinese)
2020, Vol. 41 
