Decision Making And Trajectory Planning In Lane-changing Process Of Automated Vehicle With Vehicle-to-vehicle Collaboration

Lane-changing maneuvers have many effects on road traffic,reliability,efficiency and security of lane changing have close relationship with road safety and solving traffic congestion.Owing to the influence of drivers on lane-changing maneuvers,traditional study on lane changing is limited,the emergence of automated vehicles brings new opportunity to lane-changing study.However,the study of automated vehicles is in its infancy,the current lane-changing trajectory study only consider the obstacle avoidance behavior of vehicles,it is difficult to reflect the collaboration and game phenomenon existing of the real lane-changing process,difficult to realize decision-making and the real-time planning of the lane-changing process,difficult to meet the constraint condition of lane-changing process,so the automated vehicle study of lane changing is urgent and necessary.This thesis analyzes the research situation at home and abroad of traditional lane-changing maneuver and lane-changing trajectory,and take advantage of lane-changing behavior characteristics to study lane changing trajectory planning and decision-making process of automated vehicle,the specific research work are as follows:Based on lane-changing behavior characteristics,this thesis analyzes lane-changing process and motion architecture,establishes quasi real lane changing scenes,and analyzes the motion constraints of the vehicles.Through the analysis of the US101 data in NGSIM,this thesis obtains the lane-changing trajectory set,and devides it into two categories.Then this thesis analyzes the composition of vehicle-to-vehicle collaboration and generates collaboration strategy.On this basis,this thesis divides the lane-changing process into two stages and three stages.This thesis analyzes the characteristics of frequently-used lane-changing trajectory planning methods,and combined with the study needs,applies quintic polynomial as the lane-changing trajectory planning method to plan lateral deviation process of subject vehicle.Then,consider different collision of vehicles,this thesis establishes rectangular vehicle model and gets vehicle collision avoidance condition in lane-changing process.Afterwards,this thesis analyzes the specific requirements of the lane-changing process,establishes two-stages and three-stages lane-changing trajectory planning model.This thesis establishes lane-changing trajectory cost function based on vehicle comfort requirements and lane-changing efficiency,and calculates the optimal lane-changing trajectory under constraint conditions,then verifies the feasibility of lane changing trajectory by the simulation of MATLAB software.In conclusion,based on lane-changing behavior characteristic and vehicle-to-vehicle collaboration,this thesis conducts decision-making and control of lane-changing process,realizes collaborated lane changing in quasi real traffic environments.This thesis provides a new thought for lane-changing study,it is helpful to promote the development of automated vehicle trajectory planning...