Research On The Cooperative Control Of Lane Changing And Merging Of Intelligent Connected Vehicles

In recent years,with the rapid development of the automotive industry,the intelligent networked vehicle technology has become increasingly perfect,especially the collaborative control technology of intelligent networked vehicle,which has become an important development direction of the automotive industry because it can effectively reduce safety accidents and improve traffic efficiency.Vehicle lane changing and merging behavior is one of the driving behaviors that are easy to cause traffic jams and safety accidents because of its complex process and short duration.Therefore,taking the intelligent networked vehicle as the carrier,this paper studies the typical lane changing and merging scene,studies and simulates it from three aspects: lane changing and merging collaborative control strategy,path planning and trajectory tracking.The results show that the vehicle can change and merge safely and smoothly,and verify the feasibility of the vehicle collaborative lane changing and merging method proposed in this paper.The main research work of this paper includes:(1)According to the typical scene of two lane and three vehicle lane changing and merging,the minimum safe distance model between the changing and merging vehicle and the vehicles before and after the merging point is established based on the vehicle kinematics.(2)The cooperative lane changing and merging strategy of intelligent networked vehicles in typical lane changing and merging scenes is studied.Based on the minimum safe distance,a lane changing and merging cooperative control model considering all vehicles in the scene is established.On this basis,the quintic polynomial path planning method is selected to carry out cooperative lane changing and merging path planning for lane changing and merging vehicles with the goal of safe merging.(3)By designing the transverse and longitudinal trajectory tracking controller,the tracking control of the path of the vehicles changing lanes and merging into the vehicle is realized.A three degree of freedom vehicle kinematics model is built,which is transformed into an error prediction model through linearization and discretization.The optimization goal is to minimize the vehicle state error and control increment,and then the expected steering wheel angle input is calculated to realize the tracking control of the vehicle changing lanes and merging into the transverse trajectory;Based on the PID algorithm,the longitudinal speed tracking controller is designed by using the hierarchical control method.The upper controller obtains the expected acceleration by using the difference between the expected speed and the actual speed,and the lower controller obtains the throttle opening and brake master cylinder pressure according to the expected acceleration obtained by the upper controller,so as to realize the tracking control of the expected speed.(4)In order to verify the proposed lane changing and merging collaborative control strategy,a software simulation platform based on the combination of MATLAB / Simulink and Car Sim is built to simulate and verify the automatic lane changing and merging control strategy.The simulation results show that on the premise of ensuring safety and comfort,the lane changing and merging collaborative control strategy realizes the safe lane changing and merging of intelligent network connected vehicles,and verifies the feasibility of the strategy.