关键词: 车路协同；V2V；轨迹规划；轨迹跟踪；滑模轨迹跟踪算法

Abstract: With the development of vehicle-road cooperation technology, lane changing vehicles can share data and information with surrounding vehicles to improve lane changing efficiency and traffic safety. Based on the above analysis, this paper proposes a vehicle automatic lane change control method based on vehicle to vehicle (V2V), which is mainly divided into two parts: trajectory planning and trajectory tracking. The quintic polynomial based on time is used as lane-changing trajectory, and the path planning is carried out through the surrounding vehicle information obtained by V2V. Then, according to the planned trajectory, the sliding mode trajectory tracking algorithm is used to track the vehicle speed and steering wheel angle, so as to complete lane change. Finally, the CarSim-MATLAB/Simulink simulation proves that the proposed lane change control strategy is reasonable and effective in trajectory planning and tracking, and improves the lane change security.

Key words: Vehicle-road cooperation; V2V; Trajectory planning; Trajectory tracking; Sliding mode trajectory tracking algorithm