Research On Path Planning And Car-following Control Of Vehicle Platooning In Highway Scenario

With the continuous increase in the number of civilian vehicles,the speed of upgrading the roads of cars is gradually difficult to match the growth of the number of vehicles of this size.What follows is the continuous emergence of various public transportation problems,including traffic congestion problems and various traffic accident problems.Increasing road utilization is a direct solution to traffic congestion problems.At present,the continuous development of autonomous driving technology and its surrounding supporting technologies,such as command traffic systems,edge cloud computing,and communication technologies,provide solutions for the driving model of vehicle platooning.The vehicle platooning model uses the way that the follower vehicle follows the leader vehicle,and is connected into a platooning that is connected end to end,which significantly improves the utilization rate of the road.Meanwhile,the follower vehicle takes advantage of automatic driving technology to eliminate human errors and can effectively reduce the occurrence of traffic accidents.Therefore,the research on vehicle platooning technology has been gradually received more attention.The key technologies of vehicle platooning include many cutting-edge technologies such as vehicle perception,path planning,vehicle body motion control,and vehicle following control,including autonomous driving technology.This paper discussed two modules including path planning and car-following control respectively.For the path planning module,this article first defines the scene as a highway scene,because highways are easier to simplify compared to complex urban road scenes,there is no situation of avoiding pedestrians,vehicles turning around,etc.,and traffic rules are easier to comply with,so the research is easier to integrate.The focus is on the related technology of vehicle platooning;secondly,given the problem that several common path planning algorithms cannot make effective path planning in a dynamic global environment,this article applies incremental algorithms to vehicle platooning scenarios,And some improvements have been made.The incremental path planning algorithm can effectively deal with the dynamically added obstacles in the path,and obtain the avoidance path with a small amount of calculation.Based on this,this article improves the relevant parameters of the avoidance path,and can manually adjust the obstacle avoidance willingness of the vehicle.Therefore,in a relatively wide road environment,the vehicle can increase the obstacle avoidance willingness to increase the distance from the obstacle vehicle,and make the avoidance action earlier,so that the vehicle can drive more safely and comfortably,and the relevant calculation examples are verified.For the car-following control module,the traditional vehicle platooning car-following control model does not consider the problem of leading vehicles to change lanes laterally.This paper combines the lateral and longitudinal motion of the vehicle as a car-following control method and increases the consideration of the delay of vehicle communication.The traditional car-following control directly uses the relevant motion information of the leader vehicle as to the system input of the car-following vehicle.This article takes vehicle communication as the method of information exchange between vehicles,so the influence of communication delay on the vehicle platooning following control is considered,and finally through Matlab/Simulink Carried out relevant simulation verification.