Cooperative Lane Change Model for Connected Vehicles under Congested Traffic Conditions

Abstract

This paper proposes a cooperative lane change (CLC) model for connected vehicles to reduce the adverse impact on the following vehicle in the target lane, and increase the chances of feasible lane change under congested traffic conditions. In this model, the leading vehicles in both lanes are typically considered as active agents. The feasibility criteria for CLC are designed to promise security and acceptable acceleration/deceleration of each involved vehicle, and an objective function is applied to obtain the desired acceleration of each involved vehicle during cooperation, which can reduce the deceleration of the following vehicle in the target lane and balance the kinematic change of each vehicle. The simulation results validate the improvement of the CLC model by employing the traditional lane change model and the partial cooperative lane change model as comparisons in a large amount of lane change scenarios.