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

摘要： 随着车路协同技术的发展，换道车辆可以与周围车辆进行数据信息的共享，提高换道 效率和交通安全。基于以上分析，论文提出一种基于车车协同（V2V）的车辆自动换道控制 方法，主要分为轨迹规划和轨迹跟踪两部分。选用基于时间的五次多项式作为换道轨迹，通 过 V2V 获取的周围车辆信息进行轨迹路线规划，然后根据规划好的轨迹，采用滑模轨迹跟踪 算法进行轨迹跟踪，实时优化车辆的车速和方向盘转角，从而完成换道。最后经 CarSimMATLAB/Simulink 仿真证实，所提出的换道控制策略轨迹规划及跟踪合理有效，提高了换道 安全性。

关键词: 车路协同；V2V；轨迹规划；轨迹跟踪；滑模轨迹跟踪算法