Multivehicle Coordinated Lane Change Strategy in the Roundabout Under Internet of Vehicles Based on Game Theory and Cognitive Computing

Abstract

The roundabouts exist widely in urban road networks and reduce the number of traffic crashes by reducing vehicle conflicts. However, road restrictions at the entrances and exits increase the collision possibility between vehicles as they enter or leave the roundabouts. Focusing on the driving scenes in a roundabout, this article proposes a multivehicle coordinated lane change strategy for the mandatory lane change of vehicles. First, depending on the fluctuation of the vehicle acceleration, the driver’s aggressive coefficient is defined. Second, according to the vehicle’s driving state and its distance to the exit, a cost function is proposed and model predictive control is used to control the vehicle’s motion. Moreover, the Stackelberg game is utilized to model the relationship between the lane change vehicle and its surrounding vehicles, and then to determine the timing of the changing lane. Finally, the simulation experiments verify whether the algorithm can improve the average speed of the vehicle and maintain the driving stability.