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String Stability Guaranteed Lane Change Maneuver for Automated Vehicles with Vehicle-to-Vehicle Communication

机译：字符串稳定性保证车道改变车辆与车辆通信的自动车辆

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This paper considers a specific scenario that is the incorporative operation of lane change with a vehicle platoon. In other words, the lane-change vehicle will insert into the platoon in the main lane and be a member of the platoon. Fast lane-change operation and keeping safe inter-vehicle distance are the significant issues. This work proposes a two-level control strategy to deal with the issue. The high level deals with the trajectory planing for the longitudinal movement of the vehicle platoon and for the lateral movement of the lane-change vehicle, respectively. A distributed adaptive cruise control algorithm, which guarantees string stability of the platoon system, is employed to manage the longitudinal movement. Desired lateral trajectory is generated by solving an optimization problem by using the dynamic programming (DP) method. With the obtained desired longitudinal and lateral trajectories for the lane-change vehicle, the trajectory tracking is realized by the designed low-level control laws that are simple PID controllers. Simulation tests verify the performance of the control system.
机译：本文考虑了一个具体的情景，即车道变化与车辆排的合并操作。换句话说，车道改变车辆将插入主车道中的排中并成为排的成员。快速车道变更操作和保持安全的车间距离是重要的问题。这项工作提出了双层控制策略来处理问题。高级涉及车辆排的纵向运动的轨迹平面和车道改变车辆的横向运动。一种分布式自适应巡航控制算法，其保证了排系统的弦稳定性，用于管理纵向运动。通过使用动态编程（DP）方法来解决优化问题来生成所需的横向轨迹。利用所需的所需纵向和横向轨迹对于车道改变车辆，通过简单的PID控制器的设计的低级控制规律实现了轨迹跟踪。仿真试验验证控制系统的性能。

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