智能网联汽车的协同换道技术已得到广泛研究,但现有协同换道策略难以解决强制换道场景下的车辆协同问题,或对上游交通造成的负面影响较大.本文旨在面向强制换道场景需求,提出一种考虑理论最小安全距离的两阶段协同换道策略.首先,提出了两车协同换道系统控制架构,并面向车辆强制换道场景制定了协同换道方案.随后,设计了间距调整、协同换道两阶段的滚动时域轨迹规划方法,并求解理论最小安全距离作为间距调整阶段末态约束,解决了现有研究间距策略保守的问题.最后,通过仿真与硬件在环试验验证了所提策略的有效性、优越性与计算实时性.结果表明,所提策略可有效提升换道成功率,在保障换道安全性的条件下降低了换道行为对交通的影响,且在实际边缘云平台的实时计算、通信环境下具备可用性.
Collaborative lane change technology for intelligent connected vehicles has been widely stud-ied,but existing strategies can hardly solve the problem of vehicle collaboration in mandatory lane change scenarios or may cause notable impact on upstream traffic.For mandatory lane change scenarios demand,a two-stage coopera-tive lane change strategy considering theoretical minimal safety space is proposed in this paper.Firstly,the control architecture for a two-vehicle cooperative lane change system is proposed and a collaborative lane change scheme is developed for mandatory lane change scenarios.Then,a two-stage receding-horizon trajectory planning strategy of spacing adjustment and collaborative lane change is designed,where the theoretical minimum safe distance is em-bedded as a constraint of spacing adjustment stage,to solve the problem of conservative spacing strategies in exist-ing research.Finally,numerical simulation and hardware in-loop experiments are performed to verify the effective-ness,advantages and computational real-time performance of the proposed strategy.The results show that the pro-posed strategy can effectively improve the success rate of lane change,reduce the negative traffic impact while en-suring lane change safety,and is also applicable in real time computing and communication environment of actual edge cloud platform.