Research on intelligent vehicle lane changing trajectory planning method based on V2V
To address poor real-time and low efficiency of traditional vehicle lane-changing trajectory algorithm,this paper proposes a dynamic autonomous lane-changing trajectory planning algorithm for intelligent vehicles based on V2V.At the starting moment of lane-changing,the intelligent vehicle obtains the surrounding traffic vehicle motion state information through V2V communication technology,and under the permitted conditions of lane-changing,adopts a polynomial function to describe the transverse and longitudinal motion of the vehicle lane-changing process.It filters the collision-free lane-changing trajectory by constructing the obstacle avoidance algorithm based on the double-circle body approximation model and builds a multi-objective optimization function by constructing the multi-objective optimization function based on the lane-changing performance indexes of the comfort of vehicle lane-changing and lane-changing efficiency.The optimal lane-changing trajectory is obtained by solving the constrained problem.To verify the effectiveness of the algorithm,CarSim and Matlab/Simulink software are employed.Our results show for different lane-changing conditions,the lane-changing trajectory planning algorithm based on V2V requires less lane-changing space than the traditional non-V2V lane-changing trajectory planning algorithm.Moreover,it achieves a higher lane-changing efficiency.
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