Simulation of Two-Lane Active Lane Change Optimization Planning of Intelligent Connected Vehicles
Because of the complexity and uncertainty of traffic flow,it is difficult to perceive the motion,speed and acceleration of other vehicles,leading to the difficulty in obtaining the best route of active lane change.Therefore,a method for planning the optimal route of active two-lane change of intelligent connected vehicles was proposed.Firstly,kinematics and dynamics models of intelligent connected vehicles were built.And then,the lane changing scene was constructed to obtain road information,thus judging the driver's intention of lane change.Moreover,the lane-changing route was divided into four curves.Meanwhile,the cubic polynomial was adopted to plan the first curve that meets the vehicle dynamics and kinematics constraints.On this basis,the second,third and fourth curves were ob-tained.Finally,the four curves were connected smoothly.Thus,the optimal route of active two-lane change for intelli-gent networked vehicles was obtained.Simulation results show that the proposed method has high safety of lane change and high rationality of route planning.
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