Ma Yitao, Liu Qiang, Fu Jie, Liufu Kangmin, Li Qing
School of Intelligent Systems Engineering, Sun Yat-Sen University, Shenzhen 518000, China.
School of Intelligent Systems Engineering, Sun Yat-Sen University, Shenzhen 518000, China; Guangdong Marshell Electric Technology Company, Zhaoqing 526238, China.
Accid Anal Prev. 2023 May;184:106999. doi: 10.1016/j.aap.2023.106999. Epub 2023 Feb 11.
In a mixed traffic environment, the connected vehicle platoon cannot communicate and collaborate with the surrounding vehicles. In this case, there is a high risk of collision in large vehicle platoon's lane change scenario where the non-connected surrounding vehicle occupies the target lane-changing space of the platoon. This study proposes a collision-avoidance lane change control method for a connected bus platoon to elude the non-connected vehicle in the target lane for completing lane change in the mixed traffic environment safely. A platoon vehicle sensor system with low-cost and low data processing complexity is designed, which equips with multiple sensors in longitudinal and lateral directions. Under control of the proposed platoon controller on the basis of vehicle-to-vehicle (V2V) communication, the platoon following vehicles are fully autonomous in both longitudinal and lateral directions. The safe lane change decision-maker is designed based on the Finite State Machine (FSM). The decision-maker fuses multiple sensor data and determines the lane change operation of the following vehicles. To verify the effectiveness of the proposed method, a three-vehicle platoon is carried out the lane change experiments in a high-fidelity mixed traffic scenario built by the PreScan-Simulink joint simulation platform. Exposure-to-Risk Index (ERI) of the platoon vehicles is adopted to evaluate the collision risk of the platoon during lane changing process. Three typical case scenarios are tested, including unimpeded lane change, passive waiting lane change, and active accelerating lane change. The simulation results show that all platoon vehicles have an excellent success rate in lane change without collision with the non-connected surrounding vehicle in these scenarios. The proposed method exhibits compelling benefits on improving the safety of platoon vehicles in the mixed traffic environment.
在混合交通环境中，车联网车辆编队无法与周围车辆进行通信和协作。在这种情况下，当周围未联网车辆占据了大型车辆编队的目标变道空间时，大型车辆编队变道场景中存在很高的碰撞风险。本研究提出了一种用于联网公交编队的避撞变道控制方法，以避开目标车道中的未联网车辆，从而在混合交通环境中安全完成变道。设计了一种低成本、低数据处理复杂度的编队车辆传感器系统，该系统在纵向和横向配备了多个传感器。在所提出的基于车对车（V2V）通信的编队控制器的控制下，编队中的跟随车辆在纵向和横向都完全自主。基于有限状态机（FSM）设计了安全变道决策器。该决策器融合多个传感器数据并确定跟随车辆的变道操作。为了验证所提方法的有效性，在由PreScan-Simulink联合仿真平台构建的高保真混合交通场景中对一个三车编队进行了变道实验。采用编队车辆的风险暴露指数（ERI）来评估编队在变道过程中的碰撞风险。测试了三种典型的案例场景，包括无障碍变道、被动等待变道和主动加速变道。仿真结果表明，在这些场景中，所有编队车辆在变道时都具有出色的成功率，且未与周围未联网车辆发生碰撞。所提方法在提高混合交通环境中编队车辆的安全性方面展现出显著优势。
