Research On Vehicle Lane Changing Model Based On CVIS

Base on CVIS,because the information transform between vehicles and road side equipment,solved the crash problems caused by the drivers wrong estimate to the drive environment before lane change.Traditional lane change model makes an in dependent decision according to surrounding vehicle’s information.If the surrounding vehicles drive state have changed,the decision model have to calculate again that will increase the amount of calculate even lead to a fault lane change.In view of the above problems,this paper proposes a cooperation lane change model including decision-making and controlling model base on the CVIS,which is overall considered lane change vehicle and surrounding vehicles.Make the information processing to lane change decision-making model.The decision-making model analyze all the information from vehicle and make decision based on the static game theory.Establish the revenue matrix and function give consideration to safety and timeliness.Calculate the minimum safety distance and establish rectangle vehicle model to make sure the vehicles do not have a crash.Change the vehicle’s speed which is on target lane to make sure the timeliness.Base on the quantic polynomial model set up the lane change trajectory,to make s ure curvature.The trajectory trucking method is based on Model Prediction Control algorithm,set up the three degrees of freedom vehicle model and tyre model,then linearization to get the quantity of state and input,add the lateral acceleration,acceler ation of center mass and slip angle to set up the trajectory tracking controller.Set up the simulation platform base on Prescan and Simulink,set up the simulation scene in Prescan and control model in Simulink.Verify the lane change model in simulation environment,compare to other assist lane change model.The simulation results show that in different working condition,this paper’s cooperation lane change model can change lane smoothly with no crash.Compare to traditional assist lane change model,the cooperation lane change model uses less time to accomplish lane change,increase the lane change efficiency observably.