Smooth cooperative lane change control method for multi-connected and autonomous vehicle (CAV)

US12134386B2 · kind B2 · utility

Assignee

• CHANG'AN UNIVERSITY · CN

Inventors

• Siyuan Gong · Xi'an, CN
• Kang Sun · Shandong, CN
• Xiangmo Zhao · Tuji, CN
• Xia Wu · Xi'an, CN
• Licheng ZHANG · Beijing, CN
• Wenjing Wang · Foster City, US
• Yukun Ding · Tuji, CN
• Congli Zhang · Xi'an, CN
• Yihan Sun · Xi'an, CN
• Hongda Chang · Xi'an, CN
• Ze Li · Changsha, CN
• Lu Zeng · San Diego, US
• Xinxin Wang · Woodridge, US
• Jiakai Yin · Xi'an, CN
• Yuqian Ma · Xi'an, CN
• Guohui Zheng · Thurso, CA

Key dates

• Filing date: Nov 14, 2022
• Grant date: Nov 5, 2024
• Expiry date: Jun 29, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/4041
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A smooth cooperative lane change control method for multi-connected and autonomous vehicles (CAVs), including: acquiring vehicle information of a lane-changing vehicle M and four surrounding vehicles A, B, C and D; constructing uncontrolled-vehicle and controlled-vehicle motion state prediction models; according to the motion state prediction models, predicting motion states of the lane-changing vehicle M, and the vehicles A, B, C and D; constructing an upper-layer optimization model to calculate an optimal control value and an optimized motion state of the lane-changing vehicle M and an optimal control value of the vehicle A; constructing a lower-layer optimization model to calculate an optimal control value of the vehicle D; and controlling the lane-changing vehicle M, the vehicle A and the vehicle D to run according to a corresponding optimal control value.