Research on vehicle lane-changing obstacle avoidance for Internet of Vehicles

Hao Cong; Xueming Li; Cao Huang

doi:10.1117/12.2678895

12 May 2023 Research on vehicle lane-changing obstacle avoidance for Internet of Vehicles

Hao Cong, Xueming Li, Cao Huang

Proceedings Volume 12641, International Conference on Cryptography, Network Security, and Communication Technology (CNSCT 2023); 1264114 (2023) https://doi.org/10.1117/12.2678895
Event: International Conference on Cryptography, Network Security, and Communication Technology (CNSCT 2023), 2023, Changsha, China

Abstract

In order to improve the road traveling efficiency and vehicle driving safety, a lane selection artificial potential field method is proposed based on the dynamic topology of the vehicle cluster model with Internet of Vehicles. The real-time decisions of lane changing for collision avoidance are made by the reformed lane repulsion of artificial potential field. Then, a lane-changing trajectory is planned using 2-segment 3-order Bezier curves. Meanwhile the safety control points of the main lane and the safe distances of the target lane are proposed as the safe constraints for lane-changing process. Finally, based on the MATLAB platform, the simulation is performed for validation under the typical conditions of different obstacles under the high-speed background. The results show that the lane selection artificial potential field method can make the real-time lane-changing decision effectively, and the lane-changing trajectory planning under the set safe constraints can effectively avoid the occurrence of vehicle collision accidents.

Citation Download Citation

Hao Cong, Xueming Li, and Cao Huang "Research on vehicle lane-changing obstacle avoidance for Internet of Vehicles", Proc. SPIE 12641, International Conference on Cryptography, Network Security, and Communication Technology (CNSCT 2023), 1264114 (12 May 2023); https://doi.org/10.1117/12.2678895

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