| The roundabouts exist widely in urban road networks.Due to its route characteristics,vehicles can be driven continuously,effectively reducing the waiting time of vehicles at intersections due to traffic lights.As the number of vehicles in the roundabout continues to increase,the road restrictions at the entrances and exits increase the collision possibility between vehicles as they enter or leave the roundabouts and aggravate the hidden traffic hazards around the roundabouts.How to drive safely,especially on the special driving behavior of entering and leaving,path planning and lane change strategy has become an important issue in improving traffic efficiency and safe driving in the roundabouts.Focusing on the driving scenes in a roundabout,especially on the mandatory lane change of vehicles in the roundabout,this paper combined MPC(Model Predictive Control)and Stackelberg game to propose a multi-vehicle cooperative lane change strategy based on driver driving style.Firstly,depending on the fluctuation of the vehicle acceleration,the driver’s aggressive coefficient is defined to describe the driver’s aggressiveness during driving.Secondly,according to the vehicle’s driving state,relative position with surrounding vehicles,and its distance to the exit,a cost function is proposed,and MPC algorithm is used to control the vehicle’s motion.Moreover,the Stackelberg game is utilized to model the relationship between the lane change vehicle and its surrounding vehicles,and then to determine the timing of the changing lane.Finally,the simulation experiments verify whether the algorithm can improve the average speed of the vehicle and maintain the driving stability.In addition,due to the development of wireless communication technology,it has become a trend to integrate multiple communication interfaces on a single IoV(Internet of Vehicles)node.Due to the heterogeneity of the communication medium,when data packets are sent via multiple different links,it may cause the disorder of data frames.Aiming at the data frame disorder caused by network integration in the IoV environment,a data link layer scheduling algorithm for data interaction needs is proposed.Firstly,the link state index is proposed to evaluate the status of different types of links,and based on the ACI(Access Categories Index)defined in the WAVE(Wireless Access in Vehicular Environment)protocol,the concept of data frame popularity is proposed to describe the continuity of data frame distribution in the link.Secondly,Pareto optimality is used to give the maximum distribution frequency model for WSM(WAVE Short Message)in 802.11 p links.Thirdly,A data link layer scheduling algorithm for data frame interaction requirements is proposed to realize the on-demand allocation of network resources.Finally,simulation results revealed that the algorithm can decrease the transmission delay of security applications and reduce the out-of-order frames. |
