Title: Research on collaborative lane changing control method of unmanned vehicle based on internet of vehicles cooperation

Authors: Haibo Zhang

Addresses: Department of Internet of Things Engineering, Dalian University of Science and Technology, Dalian, 116011, China

Abstract: In this paper, a new method of coordinated lane change control for unmanned vehicles based on the cooperation of vehicle network is proposed. The paper analyses the vehicle lane change strategy, calculates the distance between the self-vehicle and the front vehicle without collision and tail, and preliminarily plans the track of lane change according to the environmental information obtained from the visual environment perception part. With the support of the collaborative model control of the vehicle network, the Kalman predictor and SIFT feature extraction method are used to obtain the information of the motion and position of the unmanned vehicles, and realise the coordinated lane change control. The experimental results show that the error range of the operation failure rate is 1.00-2.31, the response time is 0.878 min, the vehicle lane change efficiency is high, and the practical application effect is good.

Keywords: internet of vehicles collaboration; unmanned driving; vehicle coordinated lane change; control; Kalman predictor; SIFT feature extraction.

DOI: 10.1504/IJVD.2022.128011

International Journal of Vehicle Design, 2022 Vol.89 No.1/2, pp.38 - 54

Received: 21 Jan 2021
Accepted: 06 Jul 2021
Published online: 04 Jan 2023 *

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