With the rapid development of modern economy and society, traffic congestion has become an increasingly serious problem. Vehicle cooperative driving can alleviate traffic congestion and improve road traffic capacity. Compare with vehicle separate control, cooperative driving combines various vehicle systems, and highly integrates information on obstacle location, vehicle status and driving intention. Then the controller uniformly issues instructions to ensure the orderly driving of the platoon. In the cooperative driving platoon, the displacement difference and the speed difference between vehicles have a certain relationship, which reduces the possibility of traffic accidents and then improves the safety of driving. In the process of cooperative driving, if there are multiple vehicles whose speeds don’t meet the current lane requirements, or if there are obstacles ahead, multi-vehicle lane change measures must be taken. This paper establishes a vehicle system based on "human-vehicle-environment-task" generalized mechanical dynamics system and multi-objective coordinated control, which solves the problem of long distance and low efficiency in the process of lane change. The strategy proposed can also slow down the lateral and longitudinal impact of passengers and reduce the fuel consumption. In view of the above problems, the article firstly constructs a kinematic model that characterizes the behavior mechanism of intelligent vehicles. Next, the lateral and longitudinal coordinated control method is proposed, and trajectory tracking is realized based on MPC algorithm. Finally, the control performance is verified by PreScan software, and the stability and robustness of the collaborative control system are analyzed. This paper solves the problem of multi-objective collaborative control that comprehensively considers intelligent driving safety, passenger comfort and lane change efficiency. The results have important research significance for improving the safety, comfort, energy saving and environmental protection performance of intelligent vehicles and traffic environments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on Multi-Vehicle Coordinated Lane Change of Connected and Automated Vehicles on the Highway


    Additional title:

    Sae Int. J. Adv. and Curr. Prac. in Mobility


    Contributors:
    Liu, Di (author) / Wu, Jian (author) / Shi, Jiangchao (author) / Ye, Yifan (author) / Wang, Yuan (author)

    Conference:

    WCX SAE World Congress Experience ; 2019



    Publication date :

    2019-04-02


    Size :

    12 pages




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Research on Multi-Vehicle Coordinated Lane Change of Connected and Automated Vehicles on the Highway

    Liu, Di / Wu, Jian / Ye, Yifan et al. | British Library Conference Proceedings | 2019


    A Cooperative Lane Change Model for Connected Vehicles on Two-Lane Highway

    Sun, Kang / Zhao, Xiangmo / Wu, Xia | TIBKAT | 2020




    Pro-social control of connected automated vehicles in mixed-autonomy multi-lane highway traffic

    Jacob Larsson / Musa Furkan Keskin / Bile Peng et al. | DOAJ | 2021

    Free access