基于车-车通信的自动换道控制  

Automatic Lane Change Control Based on Vehicle-to-vehicle Communications

作　　者：向勇[1] 罗禹贡[1,2] 曹坤[1] 李克强[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084 [2]北京电动车辆协同创新中心,北京100081

出　　处：《公路交通科技》2016年第3期120-126,145,共8页Journal of Highway and Transportation Research and Development

基　　金：国家重点基础研究发展计划(九七三计划)项目(2011CB711204);汽车安全与节能国家重点实验室自主科研项目(ZZ2011-092)

摘　　要：针对现有自动换道控制策略存在未考虑换道过程中周围车辆运动状态变化影响的不足,提出了一种基于车-车通信的自动换道控制策略,主要包括动态换道轨迹规划和滑模轨迹跟踪控制。其中,动态换道轨迹规划方法能够根据车-车通信所提供的实时信息更新参考换道轨迹,使得换道车辆适应周围车辆运动状态变化,通过求解基于换道时间和换道距离的带约束非线性优化问题,实时地获取换道过程中约束条件增加或发生改变情形下的安全参考换道轨迹。滑模轨迹跟踪控制通过车辆实际位姿和期望位姿之间的偏差计算轨迹跟踪所需期望速度和横摆角速度。仿真结果表明:所提出的控制策略能有效解决在换道过程中周围车辆车速变化或车辆切入等情况下的自动换道难题,从而能够实现安全舒适的自动换道过程。The present automatic lane change maneuvers seldom consider the change of the motion states of the vehicles around the host vehicle during the lane change process. To overcome the shortcoming, an automatic lane change maneuver based on vehicle-to-vehicle communications is proposed. The maneuver includes dynamic trajectory planning and sliding-mode trajectory tracking control. The dynamic trajectory planning method can update the reference trajectory according to the real-time information acquired through vehicle-to-vehicle communications to adapt to the motion variation of the vehicles around. The solution of the constrained non-linearly optimization problem based on lane change time and lane change distance acquires a real-time safety reference lane change trajectory when the constraints increase or change during the lane change process. The sliding-mode trajectory tracking control method calculates the desired velocity and yaw rate based on the position and pose error between the actual and desired states. The simulation result shows that the proposed automatic lane change maneuver can settle the problem caused by acceleration/deceleration or cut-in of other vehicles during lane change to accomplish the lane change task safely and comfortably.

关 键 词：汽车工程 自动换道 约束优化 轨迹规划 轨迹跟踪 

分 类 号：U491[交通运输工程—交通运输规划与管理]