Vehicle Platoon Cooperative Driving Strategy Based On Lane-Level Driving Task

Recently with the continuous development of information communication technology,automatic control theory and artificial intelligence,Intelligent Transport System(ITS)has gradually been established around the world.As an important demonstration of intelligent driving network connection,vehicle platoon cooperative driving technology has gradually become a current research hotspot.Vehicle platoon cooperative driving means that,under the premise of ensuring safety,a number of vehicles with autonomous driving capabilities are grouped into one or more rows of flexible cars with the same speed and small vehicle spacing.Vehicle platoon technology has important research significance for commercial truck transportation on highways.Driving in platoon can reduce the distance between vehicles,reduce air resistance,reduce carbon dioxide emissions,and greatly improve the traffic efficiency.However,the current platoon research is facing certain challenges.The classic platoon control often performs poorly when dealing with external traffic interference,and it is not effective in handling midway insertions,departures,and reorganizations.After investigation,most of the current platoon controls pass the driving trajectory to the following vehicles as a driving task.The following vehicles adopt a track following mode similar to AGV.In this mode,the following vehicles completely follow the trajectory of the leading car.When encountered external traffic interference,the following vehicles can only slow down or stop longitudinally,and cannot respond well.Aiming at this problem,this article attempts to explore a new solution�pass the expected driving area as a driving task to the following vehicle.The following vehicles make a comprehensive decision on direction and speed,and predict the autonomous movement to reach the expected driving area.Based on this idea,the research content of this article includes the following three aspects:Firstly,conduct a preliminary exploration of platoon management based on lane-level driving task planning.The leading vehicle of the platoon makes the lane-level planning and generate candidate driving areas,best driving behaviors,recommended paths,and recommended vehicle speeds.Pass the generated lane-level driving task to the following car as the team's following target.Determine the communication module for platoon information transfer,including the communication topology and specific communication content.Plan for lane-level driving tasks,and transfer information through communication modules to complete the preliminary exploration of platoon management for formation,insertion and departure.Secondly,establish a motion preview following model based on comprehensive decision of direction and speed.The model must ensure that the following vehicle can complete the driving task from the lead vehicle,and at the same time,it must have the ability to cope with traffic intervention.The model must not only ensure speed followability,distance followability,and easy maneuverability,but also ensure that the team runs at the expected distance.Finally,implement and validate the vehicle platoon control strategy.Set up a virtual simulation scenario in the driving simulator to verify the following situation of the platoon in straight driving,turning,lane changing,�S� curve,etc.and prove the feasibility of the motion preview following algorithm.Set up different routes in the virtual scenario to conduct a preliminary exploration of the formation and deallocation algorithm of the platoon,and put the vehicles with same expected driving area on a road segment into the same platoon.When the driving task received by the following vehicles cannot complete its macro driving task,they can send an application to dismiss the team and leave the platoon to complete the remaining driving tasks alone.It is proved that using the lane-level driving task as a follow-up target can complete the functions that the classic platoon control cannot achieve,and it can perform the functions of formation,dismissal and re-formation in specific scenarios.The test results show that the platoon control strategy in this paper can meet the engineering requirements under certain conditions.