Research on cooperative lane-changing guidance method for expressway mainline in V2X environment

Aiming at the problem of lane changing in expressway ramp area to avoid the influence of the driving of this vehicle when the merging vehicles converge into the mainline, a cooperative lane changing guidance method for the mainline of expressway under the V2X (vehicle to everything) environment is innovatively proposed. Firstly, using RSU (Road Side Unit) and OBU (On Board Unit), real-time information such as vehicle speed, acceleration and position is acquired. On this basis, prediction effects and correction coefficients are put in place to construct the safety evaluation coefficients of lane-changing to analyze the safety of the lane-changing process. Finally, a fifth-degree polynomial trajectory model is introduced for lane change trajectory planning with the goal of lane change efficiency and comfort. Simulation experiments commit the model. The experiment shows that the vehicle has excellent smoothness based on the fifthdegree polynomial lane changing trajectory model during the cooperative lane changing process in the main line of the expressway, and the states of displacement and velocity meet the requirements of smoothness and comfort. This in turn validates the feasibility of the proposed collaborative lane changing guidance method outlined in this paper and provides a modeling basis for the study of safe vehicle lane-changing in a V2X environment.