Model predictive control–based cooperative lane change strategy for improving traffic flow

Di Wang,Jianqiang Wang,Yunpeng Wang,Hongmao Qin,Yougang Bian,Manjiang Hu

doi:10.1177/1687814016632992

Di Wang, Jianqiang Wang + Show 4 more

Open Access

https://doi.org/10.1177/1687814016632992

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Abstract

Lane change has attracted more and more attention in recent years for its negative impact on traffic safety and efficiency. However, few researches addressed the multi-vehicle cooperation during lane change process. In this article, feasibility criteria of lane change are designed, which considers the acceptable acceleration/deceleration of neighboring vehicles; meanwhile, a cooperative lane change strategy based on model predictive control is proposed in order to attenuate the adverse impacts of lane change on traffic flow. The proposed strategy implements the centralized decision making and active cooperation among the subject vehicle performing lane change in the subject lane and the preceding vehicle and the following vehicle in the target lane during lane change. Using model predictive control, safety, comfort, and traffic efficiency are integrated as the objectives, and lane change process is optimized. Numerical simulation results of the cooperative lane change strategy suggest that the deceleration of following vehicle can be weakened and further the shock wave propagated in traffic flow can be alleviated to some degree compared with traditional lane change.

Highlights

Lane change, as one of the basic driver behaviors, can never be avoided in real traffic environment
The objectives of this article are as follows: (1) to increase lane change feasibility compared to traditional lane change (TLC) scenario within the same lane change duration; (2) to optimize the movement of each vehicle and ensure security and driver comfort during cooperative lane change (CLC), especially to decrease following vehicle (FV)’s deceleration; (3) to reduce the influence of lane change on upstream vehicles and improve traffic flow to some degree
All benefits of the proposed CLC strategy presented in simulation results are basically attributed to the centralized decision making among preceding vehicle (PV), subject vehicle (SV), and FV

Summary

Introduction

As one of the basic driver behaviors, can never be avoided in real traffic environment. It has been investigated and confirmed that lane change has negative effects on traffic safety and efficiency.[1] In the United States, accidents caused by lane change maneuver represent between 4% and 10% of the totality of the accidents.[2] Specially, 78% of lane change accidents take place in a dense traffic flow with low speed and small inter-vehicle space, such as in urban area.[3] Even multiple-vehicle collision can be induced by improper lane change. Recognition failure by driver is a primary reason for 75% of lane change accidents.[4] On the other hand, lane change is a primary trigger of oscillations in traffic flow, which causes 10% of latencies on roads.[1] Subtle localized oscillations

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