Lane Change Merging Control Method for Unmanned Vehicle Under V2V Cooperative Environment

ZHANG Rong-hui, YOU Feng, CHU Xin-nan, GUO Lie, HE Zhao-cheng, WANG Rong-ben

China Journal of Highway and Transport ›› 2018, Vol. 31 ›› Issue (4) : 180-191.

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China Journal of Highway and Transport ›› 2018, Vol. 31 ›› Issue (4) : 180-191.

Lane Change Merging Control Method for Unmanned Vehicle Under V2V Cooperative Environment

  • ZHANG Rong-hui1,2, YOU Feng1, CHU Xin-nan1, GUO Lie3, HE Zhao-cheng2, WANG Rong-ben4
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Abstract

Collaborative driving for the state transition of a vehicle platoon has become a popular research topic in the field of intelligent vehicle highway systems. It can effectively simplify the complexity of road traffic control management, reduce environmental pollution, and ensure road traffic safety. Based on a multi-intelligent vehicle cooperative driving control structure, this paper proposes a driving strategy for intelligent vehicles merging into a platoon, and analyzes the stable conditions for the driving state within a platoon of vehicles. After establishing the collaboration criteria and a safety assessment for when an unmanned vehicle merges into a vehicle platoon, based on high-order polynomials, the combined vehicle characteristics and effective motion trajectory for the lane changing of an unmanned vehicle are designed and obtained by introducing the index function of riding comfort. To assure vehicle safety and stability for the merging process of an unmanned vehicle, the motion relationship of each vehicle in the merging scenario was explored, including the movement relation between the merging vehicle and the front and rear vehicles of the platoon. The types and impact factors for a collision are analyzed, and the conditions for collision avoidance are provided. Based on the vehicle kinematics, a vehicle position error model is established, and the line speed and angular velocity are selected as inputs, combining the conditions of the system's large and progressive stability, as well as the path tracking controllers for the unmanned vehicle platoon merging process designed using the Lyapunov theory and Backstepping algorithm. Simulation and vehicle experiments show that the trajectories designed for merging into a vehicle platoon are feasible and safe. In addition, the controller demonstrates a better tracking performance. The longitudinal and lateral errors are within 15 cm, and the relative error of the direction deviation is less than 10%. This provides a useful reference for the unmanned state transition of a vehicle platoon and collaborative driving in an intelligent vehicle highway system, and can assist with the design and evaluation of road traffic safety in the future.

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automotive engineering / collaborative driving / trajectory planning / tracking control / traffic safety / intelligent vehicle highway system

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ZHANG Rong-hui, YOU Feng, CHU Xin-nan, GUO Lie, HE Zhao-cheng, WANG Rong-ben. Lane Change Merging Control Method for Unmanned Vehicle Under V2V Cooperative Environment[J]. China Journal of Highway and Transport, 2018, 31(4): 180-191

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