The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 05, 2024
Filed:
Nov. 14, 2022
Chang'an University, Xi'an, CN;
Siyuan Gong, Xi'an, CN;
Kang Sun, Xi'an, CN;
Xiangmo Zhao, Xi'an, CN;
Xia Wu, Xi'an, CN;
Licheng Zhang, Xi'an, CN;
Wenjing Wang, Xi'an, CN;
Yukun Ding, Xi'an, CN;
Congli Zhang, Xi'an, CN;
Yihan Sun, Xi'an, CN;
Hongda Chang, Xi'an, CN;
Ze Li, Xi'an, CN;
Lu Zeng, Xi'an, CN;
Xinxin Wang, Xi'an, CN;
Jiakai Yin, Xi'an, CN;
Yuqian Ma, Xi'an, CN;
Guohui Zheng, Xi'an, CN;
CHANG'AN UNIVERSITY, Xi'an, CN;
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.