| 车联网环境下自动驾驶车辆车道选择决策模型 |
| |
| 引用本文： | 杨达,吕蒙,戴力源,王啸文,郭茜.车联网环境下自动驾驶车辆车道选择决策模型[J].中国公路学报,2022,35(4):243-255. |
| |
| 作者姓名： | 杨达 吕蒙 戴力源 王啸文 郭茜 |
| |
| 作者单位： | 1. 西南交通大学 交通运输与物流学院, 四川 成都 610031;2. 西南交通大学 综合交通运输 智能化国家地方联合工程实验室, 四川 成都 610031;3. 西南交通大学 综合 交通大数据应用技术国家工程实验室, 四川 成都 610031 |
| |
| 基金项目： | 四川省科学技术厅重点研发计划项目(19ZDYF2068);国家自然科学基金项目(52172333);交通运输行业重点科技项目(cgky004) |
| |
| 摘 要： | 试验车道选择行为是自动驾驶车辆最基本的决策行为之一,利用车联网技术可以使车道选择结果更加全面、合理.首先,对高速公路自动驾驶车辆车道选择决策过程进行分析,并以车联网感知通信范围内的车辆的平均速度、重车比例及前往车道的理想换道时间为主要指标创建成本函数,根据计算结果输出最优车道序列;然后,以Gipps安全驾驶模型为基础,...
|
| 关 键 词： | 交通工程 车道选择决策模型 建模仿真 自动驾驶车辆 车联网环境 |
| 收稿时间： | 2020-08-16 |
Decision-making Model for Lane Selection of Automated Vehicles in Connected Vehicle Environment |
| |
| YANG Da,LYU Meng,DAI Li-yuan,WANG Xiao-wen,GUO Qian.Decision-making Model for Lane Selection of Automated Vehicles in Connected Vehicle Environment[J].China Journal of Highway and Transport,2022,35(4):243-255. |
| |
| Authors: | YANG Da LYU Meng DAI Li-yuan WANG Xiao-wen GUO Qian |
| |
| Affiliation: | 1. School of Transportation and Logistics, Southwest Jiaotong University, Chengdu 610031, Sichuan, China;2. National United Engineering Laboratory of Integrated and Intelligent Transportation, Southwest Jiaotong University, Chengdu 610031, Sichuan, China;3. National Engineering Laboratory of Integrated Transportation Big Data Application Technology, Southwest Jiaotong University, Chengdu 610031, Sichuan, China |
| |
| Abstract: | Lane selection maneuvering is an essential decision-making ability of automated vehicles. The connected vehicle technology can enhance the lane selection maneuvering of automated vehicles. First, the lane selection decision-making process of automated vehicles on freeways was analyzed in this study, and a cost function was derived based on the average speed of vehicles, proportion of heavy vehicles, and ideal lane-changing time within the perception and communication range. The cost function output the optimal lane sequence based on the calculation results. Second, the Gipps safe driving model was used to establish a lower-level safety condition judgment model and determine the safe and feasible optimal target lane by filtering the optimal lane sequence. Third, a simulation platform suitable for basic sections of the expressway was constructed, based on which the proposed model was verified. The effects of the factors, including the proportion of heavy vehicles, the speed difference between two lanes on the simulation results, and the safety characteristics of the proposed model, were analyzed. The results indicate that the proposed model can comprehensively reflect various indicators within the perception range of vehicles, enhance the driving benefits of vehicles, and increase the probability of successful lane-changing. When the traffic parameters change, the model exhibits a good discrimination degree. When the current gap does not satisfy the lane-changing requirement, the front and rear gaps are evaluated to increase the lane-changing probability of the vehicles. Furthermore, the model shows improved safety and strong adaptability, providing a reference for future studies on the lane selection of automated vehicles in the connected vehicle environments. |
| |
| Keywords: | traffic engineering lane selection decision model modeling and simulation automated vehicles connected vehicle environment |
|
| 点击此处可从《中国公路学报》浏览原始摘要信息 |
|
点击此处可从《中国公路学报》下载全文 |
|
