车路协同下车队避让紧急车辆的换道引导方法

为保证紧急车辆更安全、高效地到达紧急事故现场,基于车路协同系统,提出车队避让紧急车辆的换道引导策略.针对目标车道无车辆、有车辆和有车队3种不同场景,分别提出确保紧急车辆快速通过的协同换道策略.通过协同换道策略引导紧急车辆前方行驶的车队和目标车道的车辆改变速度以调整车辆间距,使其满足换道安全距离,依据换道轨迹规划使车队完...

Lane Changing Guidance Method for Vehicle Platoon to Avoid Emergency Vehicles of CVIS

To ensure that emergency vehicles can reach accident fields more safely and efficiently, this paper proposes a lane-changing guidance method for a vehicle platoon to avoid emergency vehicles based on a cooperative vehicle infrastructure system (CVIS). Three cooperative lane-changing strategies were presented to guarantee that emergency vehicles approaching from the rear pass through quickly for three corresponding scenarios in the target lane: no vehicle, few vehicles, and vehicle platoon. The cooperative lane-changing strategies guided the vehicle platoon in front of the emergency vehicle and other vehicles in the target lane to change their speed, adjust the distance between vehicles, and finish lane changing according to the trajectory planning. Furthermore, the shortest distance between the emergency vehicle and the last vehicle in the platoon was formulated to confirm the location where the emergency vehicle began emergency avoidance signalling. The SUMO simulation platform was used to realize the lane-changing guidance of the vehicle platoon to avoid emergency vehicles in three different scenarios based on CVIS. Moreover, for the scenario in which a vehicle platoon exists in the target lane, two lane-changing strategies were compared: the vehicle platoon changed lanes into each gap of the target platoon (Method A), and the vehicle platoon changed lanes into the same gap as the target platoon (Method B). Simulation results show three conclusions: ① the collaborative lane-changing time of Method B is shorter than that of Method A, and the location of beginning emergency signalling for Method B is 82 m away from the last vehicle of the platoon, which is shorter than the 87 m of Method A. Therefore, Method B is recommended because of its lesser influence on the surrounding vehicles. ② In three different scenarios, the emergency vehicle begins avoidance signalling when the last vehicle of the front platoon is 71, 71, and 82 m away, respectively. The emergency vehicle can travel at the desired speed under these conditions, which validates the relationship formulation between the shortest distance and vehicle speed. ③ Compared with the situation in which no lane-changing guidance strategy was used, the speed of emergency vehicles is increased, and the delay is reduced.