针对智能交通中车辆换道的安全性与通行效率问题,以网联自动驾驶车辆(Connected and Automated Vehicle,CAV)协同换道控制为研究对象,提出了 一种安全攸关型车道自动变换控制策略.首先,基于安全攸关控制原理,提出一种改进的车辆协同变道控制器,提高车辆换道效率,称为新形式CLF-CBF-QP(Control Lyapunov Function-Control Barrier Func-tion-Quadratic Programming)控制器;其次,搭建车辆协同换道控制系统,保障车辆换道的安全性.通过MATLAB仿真平台在高速公路场景下验证所提出的控制策略的安全性和可行性,仿真对比控制器优化前后的性能.仿真结果表明:所提出的控制策略能够保障车辆换道的安全性,改进后的控制器提高了车辆换道成功率.
Research on cooperative vehicle lane change control based on Safety-critical control
Aiming at the safety and access efficiency problems of vehicle lane changing in intelligent transportation,a safety-stakeholder automatic lane changing control strategy is proposed with the cooperative lane changing control of connected and automated vehicles(CAVs)as the research object.Firstly,based on the safety-stakeholder control principle,an improved vehicle cooperative lane changing controller is proposed to improve the efficiency of vehicle lane changing,which is called the new form of CLF-CBF-QP controller;secondly,the vehicle cooperative lane changing control system is built to guarantee the safety of vehicle lane changing.The safety and feasibility of the proposed control strategy are verified by MATLAB simulation platform in the highway scenario,and the performance of the controller before and after optimization is compared in simulation.The simulation results show that the proposed control strategy can guarantee the safety of vehicle lane changing,and the improved controller improves the success rate of vehicle lane changing.
intelligent transportationcooperative lane change controlsafety-critical control strategycontrol barrier functioncontrol Lyapunov functionquadratic programming
万方数据
维普
