基于多集群系统的车辆协同换道控制

doi:10.12052/gdutxb.210050

Abstract

Abstract: Aiming at the problem of multi vehicle cooperative control in an environment with connected and automated vehicles, a cooperative lane changing framework is proposed based on multi cluster system. The selection conditions of virtual leader are given. Connected and Automated Vehicles (CAVs) select neighbors, leader and virtual leader as the state evolution of control protocol through distributed clustering algorithm. On this basis, a space control algorithm for cluster space allocation and a leader-follower control protocol based on cluster system are designed to make the target vehicles extend the longitudinal distance between adjacent vehicles to achieve safe lane changing distance. Theoretical analysis verifies that the proposed control protocol can guarantee the local consistency within the cluster and the group consistency among clusters by solving multiple differential equations. The simulation results show that the proposed algorithm and control protocol can make the multi clusters converge uniformly and Cavs maintain an expected safe distance to drive stably in a sparse formation. As a result, CAVs change safely and accurately to the target lane.

Key words: off ramps, connected and automated vehicle, cooperative control, multi-agent system, platoon

CLC Number:

TP391

Xie Guang-qiang, Zhao Jun-wei, Li Yang, Xu Hao-ran. Cooperative Lane-changing Based on Multi-cluster System[J].Journal of Guangdong University of Technology, 2021, 38(05): 1-9.

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