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.
To improve the reliability of Rayleigh lidar temperature detection, the feasibility of the Kalman filtering method in Rayleigh lidar temperature retrieval under the condition of an unknown model will be studied. The state model is directly determined by the temperature profile of the NRLMSISE-00 standard atmospheric model, and the corresponding simulated lidar echo data are used as input to compare and analyze the temperature retrieval from the state models of different dimensions to verify the feasibility and reliability of the Kalman filter algorithm.
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