The Cooperative Car-Following Model With Consideration of the Stimulatory Effect of Lane-Changing Types

Dong Chen,Yongxiang Zhang,Runtian Zhu,Yu Zhang,Xiaoming Xiong,Yongming Zhou

doi:10.1109/access.2021.3092755

Dong Chen, Yongxiang Zhang + Show 4 more

Open Access

https://doi.org/10.1109/access.2021.3092755

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Abstract

Lane changing behavior is one of the most important tasks in driving. Cooperative lane change based on vehicle-vehicle (V2V) communication technology is getting extensive attention due to its potential to improve traffic safety and increase efficiency. In order to explore the internal mechanism of cooperative lane change behavior, the cooperative car-following model considering the stimulatory effect of lane-changing types is proposed in this paper. We investigate three lane changing types (free lane change, forced lane change, and cooperative lane change) to impact cooperative lane changing behavior. Based on this analysis, cooperative level function is presented. By using linear stability theory, the stability criterion of the proposed model is obtained. Simulation scenarios are set in three typical situations (starting process, stopping process and perturbation process) to analyze FVD model, cooperative driving for non-lane mode and cooperative driving for lane-changing mode. Simulation results indicate that cooperative driving of lane-changing mode has larger stable region compared to FVD model, cooperative driving for non-lane mode. Furthermore, the higher the level of cooperation, the greater the area of stability. Meanwhile, the simulation experiment also shows that response capability and smoothness of cooperative driving for lane-changing mode is be effectively promoted to the acceleration, velocity evolution.

Highlights

With the rapid increase in the number of vehicles around the world, the traffic accidents caused by lane changes can cause serious collisions and consequent traffic delays
According to research from European Union (EU), a large proportion of traffic accidents are caused by wrong lane changing maneuvers, and nearly 75% of lane change collisions are attributable to drivers [1]
10% of traffic accidents are attributable to unstable traffic flow and complex traffic [2]

Summary

INTRODUCTION

With the rapid increase in the number of vehicles around the world, the traffic accidents caused by lane changes can cause serious collisions and consequent traffic delays. Zhao et al [35] analyzed the different types of stimulus during the preceding vehicle’s lane-merging process and the space gain effect produced by the preceding vehicle’s lane-passing behavior He et al proposed cooperative driving and lane changing modeling for connected vehicles in the vicinity of traffic signals from cyber-physical perspective [36]. These works study about the non-lane-discipline traffic flow model from many aspects and many important research results are obtained. We propose the cooperative car-following model considering the stimulatory effect of lane-changing types.

NUMERICAL SIMULATION

DYNAMIC PERFORMANCE Starting process

Findings

CONCLUSIONS