Research On Cooperative Lane Changes Method For Connected And Automated Vehicles In Inter-Buildings

The development of smart city and the high-density of urban buildings make the transportation infrastructure in inter-buildings weaker.In the road system,the research and promotion of connected and automated vehicles are of great value in easing traffic congestion,promoting driving safety,reducing gas emissions and building smart cities.As connected autonomous vehicles continue to move to higher levels,there are still deficiencies in the cooperative control between vehicles,and there is still the potential for further improvement of multi-vehicle cooperative lane change.Therefore,aiming at the problems of multi-vehicle cooperative lane change for connected and automated vehicles,such as excessive constraints,poor safety,low comfort,limited cooperation ability,and so on,this study focuses on two scenarios of the straight road and the intersection in inter-buildings,and takes connected and automated vehicles as the research object,proposes a two-vehicle cooperative lane change game method,a dynamic optimization method for multi-vehicle cooperative lane change and a optimal control method for multi-vehicle cooperative lane change at a signal-free intersection to improve the quality and capability of multi-vehicle cooperative lane change.The main work lies in the following three aspects:(1)Aiming at the problems of two-vehicle cooperative lane change,such as low comfort,high frequency lane change,and so on,and considering that the existing methods mainly analyze the traffic flow state from the aspects of safety and traffic efficiency,and lack of research on the sustainable development of traffic,a comfortable and safe lane change method is proposed.The method mainly includes single-car expectation lane change and two-vehicle cooperative lane change.First,by introducing comfort income into the speed income function of the traditional lane change incentive model,establishing the total income optimization model,judging the feasibility of single lane change;Second,according to the possible mutual interference in the expected lane change decision between vehicles,a two-vehicle cooperative lane change method based on game theory is established by using the two-matrix method;Finally,several evaluation indexes are selected to verify the effectiveness of the proposed method.(2)To solve the problem of complex constraints and low solution quality for multi-vehicle lane change,a stable and efficient cooperative lane change method is proposed.First,according to the vehicle kinematic model,collision avoidance constraints,and safe driving constraints,the time-cost function is introduced to construct a stable and efficient multi-vehicle cooperative lane change optimization model;Second,based on the existing movement detection algorithm,the traffic flow scene is analyzed,and a constrained adaptive method is explored to simplify the problem solving model;Finally,the optimal solution method is introduced for different traffic flow lane change,the simulation results show that the proposed method can present high quality cooperative motion behaviors.(3)To optimize the problems of multi-vehicle cooperative lane change at a high-complex and high-dynamic signal-free intersection,this study puts forward a optimal control method to explore the multi-vehicle cooperative lane change problem.First,the potential collision probability is estimated for the intersection occluded by the surrounding buildings;Second,combined with the distribution of surrounding buildings,according to the potential probability estimation,the various constraints are analyzed,and the time-cost function is introduced to establish a piecewise optimization control model;Finally,through the optimization algorithm,the proposed models are solved separately to realize the complex but orderly traffic behavior at the intersection.