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| 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 |
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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.
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Received: 02 July 2019
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2020, Vol. 41 
