Collaborative lane changing decision-making method for intelligent network-connected motorcade

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Collaborative lane changing decision-making method for intelligent network-connected motorcade

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ZHANG XIANHONG / HU JIA / XU ZHENGHAO / ZHANG ZIHAN / LI XIAOYUN / FENG YONGWEI / WANG HAORAN

A collaborative lane changing decision-making method for an intelligent network connection fleet comprises the following steps that S1, a central processing unit of the intelligent network connection fleet reads fleet state information and global path information, and environment vehicle information sensed by vehicles in the fleet is collected in a V2V communication mode; s2, operating an upper-layer motorcade decision-making module according to the read and collected information, and if the upper-layer motorcade decision-making module outputs a motorcade lane changing instruction and gives a target lane, executing lower-layer bicycle decision-making modules in sequence from the first bicycle to change lanes in sequence; otherwise, the intelligent network connection vehicle team does not change the lane and continues to run according to the original lane; and S3, when all vehicles in the intelligent network connection vehicle team successfully change lanes, ending the cooperative lane change decision of the vehicle team. According to the invention, the upper-layer motorcade decision is made by collecting the motorcade state, the global path and the environmental vehicle information; after the upper-layer motorcade decides and outputs a lane changing instruction, lower-layer single vehicle decisions are made in sequence from the first vehicle until lane changing of all vehicles is achieved.

一种智能网联车队协同换道决策方法，包括如下步骤，步骤S1.智能网联车队的中央处理器读取车队状态信息和全局路径信息，并通过V2V通信方式采集队内车辆感知的环境车辆信息；步骤S2.根据读取和采集到的信息运行上层车队决策模块，若上层车队决策模块输出车队换道指令，并给出目标车道，则从头车开始，按顺序执行下层单车决策模块，依次进行换道；否则，智能网联车队不进行换道，继续按照原车道行驶；步骤S3.当智能网联车队中所有车辆均已换道成功，本次车队协同换道决策结束。本发明通过采集车队状态、全局路径、环境车辆信息，进行上层车队决策；在上层车队决策输出换道指令后，从头车开始，按顺序进行下层单车决策，直至所有车辆实现换道。

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Title :

Collaborative lane changing decision-making method for intelligent network-connected motorcade

Additional title:

一种智能网联车队协同换道决策方法

Contributors:

ZHANG XIANHONG (author) / HU JIA (author) / XU ZHENGHAO (author) / ZHANG ZIHAN (author) / LI XIAOYUN (author) / FENG YONGWEI (author) / WANG HAORAN (author)

Publication date :

2023-02-03

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS