Abstract
With the development of vehicle-to-vehicle (V2V) communication, it is possible to share information among multiple vehicles. However, the existing research on automated lane changes concentrates only on the single-vehicle lane change with self-detective information. Cooperative lane changes are still a new area with more complicated scenarios and can improve safety and lane-change efficiency. Therefore, a multi-vehicle cooperative automated lane-change maneuver based on V2V communication for scenarios of eight vehicles on three lanes was proposed. In these scenarios, same-direction and intersectant-direction cooperative lane changes were defined. The vehicle that made the cooperative decision obtained the information of surrounding vehicles that were used to cooperatively plan the trajectories, which was called cooperative trajectory planning. The cooperative safety spacing model was proposed to guarantee and improve the safety of all vehicles, and it essentially developed constraints for the trajectory-planning task. Trajectory planning was treated as an optimization problem with the objective of maximizing safety, comfort, and lane-change efficiency under the constraints of vehicle dynamics and the aforementioned safety spacing model. Trajectory tracking based on a model predictive control method was designed to minimize tracking errors and control increments. Finally, to verify the validity of the proposed maneuver, an integrated simulation platform combining MATLAB/Simulink with CarSim was established. Moreover, a hardware-in-the-loop test bench was performed for further verification. The results indicated that the proposed multi-vehicle cooperative automated lane-change maneuver can achieve lane changes of multiple vehicles and increase lane-change efficiency while guaranteeing safety and comfort.
Highlights
Lane change is one of the most important behaviors for vehicles and has a great influence on traffic problems
Jula et al [9] proposed a type of minimum safety spacing (MSS) model that considered the surrounding vehicles, following vehicles in the desired lane or original lane, and leading vehicles in the desired lane or original lane, and provided a velocity-change method to maintain the safety of the lane-change process
Based on the state of the surrounding vehicles, the maneuver could make a safe decision on whether to keep the lane change or return to the original lane according to the MSS model and employed a proposed trajectory re-planning method
Summary
Lane change is one of the most important behaviors for vehicles and has a great influence on traffic problems. Based on the state of the surrounding vehicles, the maneuver could make a safe decision on whether to keep the lane change or return to the original lane according to the MSS model and employed a proposed trajectory re-planning method. Most previous studies were based on simple two-lane scenarios that did not consider the cooperation of surrounding vehicles and in which safety cannot be guaranteed during a lane-change maneuver. (2) A cooperative lane-change maneuver for the threelane scenario that can guarantee safety and increase efficiency was proposed This maneuver acquired information from all vehicles to determine the lane-change type and planned the cooperative safe trajectories. (3) A multi-vehicle MSS model between any two vehicles during lane change was proposed This model can be used as a universal standard for determining the safety of automated lane changes.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
