Abstract
In order to improve the safety, stability, and efficiency of lane change operating, this paper proposes a multivehicle-coordinated strategy under the vehicle network environment. The feasibility of collaborative lane change operation is established by establishing a gain function based on the incentive model. By comparing lane change gain with lane keeping gain, whether it is feasible to perform the collaboration under current conditions can be judged. Based on the model predictive control (MPC), a multiobjective optimization control function for cooperative lane change is established to realize the distributed control. A novel two-stage cooperative lane change framework is proposed, which divides the lane change process into the lane change phase and the longitudinal headway adjustment phase. It is significant to solve the difficult numerical problem caused by the dimension of collision-avoidance constraints and the nonlinearity of vehicle kinematics. In the first stage, the subject vehicle completes lane change operation. Both longitudinal and lateral movements of the vehicle are considered to optimize the acceleration and the error of following distance at this stage; in the second stage, the operation of adjusting longitudinal headway between vehicles in the target lane is completed, and at this period, only the longitudinal motion of the vehicle is considered to optimize the vehicle acceleration error. The rolling optimization time domain algorithm is used to solve the optimization control problem step by step. Finally, based on the US NGSIM open-source traffic flow database, the accuracy and feasibility of the proposed strategy are verified.
Highlights
Lane change is one of the most basic driving behaviors with a high risk
Introduction to the Scene. e multivehicle coordinated lane-change scenario studied in this paper is the highway environment under the network condition shown in Figure 2. e subject vehicle (SV) changes lanes from the original lane to the target lane during the lane change process. e ALV and AFV vehicles, respectively, represent the front and rear vehicles in the target lane, and the LV vehicle represents the preceding vehicle in the original lane
Information exchange among vehicles is realized through the dedicated short-range communication (DSRC) technology. e obtained vehicle state parameters take the subject vehicle (SV) for reference. e goal of coordinated lane change is to assist in performing lane change operation safely and efficiently
Summary
Compared to car-following behavior, the lane change considers more vehicles, and the decision-making process is more complicated and difficult to describe. Li and Zhang [6] proposed a dynamical model based on the strategy of three-vehicle cooperation driving, achieving smoother acceleration distribution in the new model through considering the dynamic collaboration in the car-following condition. This paper proposes a novel multivehicle coordinated safe lane change strategy based on centralized decision-making and distributed control. A typical scene during the specific time segment in the NGSIM open-source traffic database is selected, and the proposed collaborative strategy is applied to simulate by MATLAB to verify the impact of this method on improving traffic efficiency, stability, and driving safety and comfort. (1) A multivehicle cooperative lane change strategy is proposed with centralized decision-making and distributed control. E conclusions and discussion are presented in the final section
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