Research On Vehicle Automatic Lane Change Control Strategy Based On Vehicle-to-vehicle Communication

With the development of economy and technology,the automobile indu stry has also entered an era of great changes.Intelligent connected cars are the masterpieces of this era.In the decision-making planning module of intelligent connected cars,the lane change trajectory planning is a very important component,which is re lated to the safety of the entire vehicle and also affects the traffic efficiency.In addition,with the development of communication technology,lane changing vehicles can communicate with surrounding vehicles in real time,obtain accurate information of surrounding vehicles,and can communicate collaborative information with each other,thereby improving lane changing safety and improving traffic efficiency.Based on the above analysis,this article takes intelligent connected car as the research object,and specifically studies the automatic lane change control strategy based on vehicle-to-vehicle communication technology.First,the vehicle’s lane changing behavior is analyzed and the vehicle’s automatic lane changing is divided into free lane changing a nd cooperative lane changing.The overall strategy is proposed in free lane change,which mainly includes parallel lane change planning method,collision detection and trajectory replanning method.The overall strategy is proposed in cooperative lane chang e,which mainly includes the initial lane change trajectory planning method,precise lane change trajectory planning method and cooperative vehicle coordinate trajectory planning method.At the same time,when solving the optimization model in trajectory p lanning,the characteristics of the speed change when the vehicle changes lanes are analyzed,and the enumeration method and particle swarm algorithm are improved.Then,the kinematics model and dynamics model of the vehicle are analyzed,and the sliding mode trajectory tracking algorithm is improved to obtain the vehicle speed and yaw rate,which are then converted into input torque and steering wheel angle,so that the vehicle’s posture error is limited for a limited time,and then complete the tracking of the trajectory.Finally,a Carsim-Prescan-MATLAB / Simulink joint simulation platform is built to verify the algorithm proposed in this paper.The results show that the proposed free lane change strategy increases the possibility of lane change,improve s the rationality of the lane change trajectory,and ensures the safety of the lane change process.Based on the proposed cooperative lane change strategy,both the lane change vehicle and the cooperative vehicle Get a more comfortable trajectory;the impr oved sliding mode trajectory tracking algorithm is more applicable.