A Cooperative Lane Change Model for Connected and Automated Vehicles

Abstract

The emerging technology of vehicle-to-vehicle (V2V) communication, vehicle-toinfrastructure (V2I) communication makes it possible for vehicles to sense the environment information, which can be exploited to assist the vehicle in cooperative motion planning. In this paper, we focus on the cooperative trajectory planning of lane changes for connected and automated vehicles (CAVs). The proposed model considers the traffic scene with multiple mandatory lane change demands and completes the trajectory planning for vehicles by taking the safety and efficiency into consideration. The model solves two critical issues: the vehicle grouping and the motion planning. In the first issue, CAVs in the cooperative zone are divided into different groups. Then the problem is simplified and divided into several subproblems. In the second issue, the trajectory planning is conducted in each group. Trajectories are generated for vehicles with and without lane change demands. Besides, these two steps are iterated and updated in the fixed time interval, which makes full use of the dynamic cooperation ability of vehicles. Extensive simulation tests are conducted to validate the performance of the model. Results show that the cooperation of vehicles realizes safe and effective lane changes. INDEX TERMS Lane change, connected and automated vehicles, motion planning, cooperative driving, collision avoidance.

Multi-agent reinforcement learning for cooperative lane changing of connected and autonomous vehicles in mixed traffic

“…In this subsection, we evaluate the effectiveness of the proposed multi-objective reward function with the driving comfort in Eqn. (3). Figure 5 shows the acceleration and deceleration of the AV with or without the comfort measurement defined in Eqn.…”

“…However, there exists a huge challenge in the task of high-level decision-making in AVs due to the complex and dynamic traffic environment, especially in mixed traffic co-existing with other road users. Lane changing is one of the largest challenges in the high-level decision-making of AVs, which has significant influences on traffic safety and efficiency [2,3].…”

Intelligent Cooperative Health Emergency Response System in Autonomous Vehicles

“…Studies [10], [11], [12] demonstrated wireless V2V communication protocols for cooperative maneuvering systems for autonomous vehicles to enable them to perform complex road maneuvers through message exchange. The authors of [13] and [14] proposed a Cooperative Lane Changing solutions for AVs based on V2V and V2I connections to improve motion planning and thus improve traffic operations. The study in [15] investigated cooperative vehicle parking system via V2V wireless communication to allow vehicles to find and select parking spaces.…”

Analysis of the Relationship between the Density and Lane-Changing Behavior of Circular Multilane Urban Expressway in Mixed Traffic

“…In the mixed traffic, there are few studies on the influence of lane-changing behavior on traffic flow, and more researches focus on the study of lane-changing behavior of autonomous vehicles. e research studies on lanechanging behavior of autonomous vehicles mainly include lane-changing intention [24,25], lane-changing decision [26,27], cooperative lane-changing between front and rear vehicles [28][29][30][31], and lane-changing position [32]. Research studies use human behavior as the research basis to construct human-like behavior models.…”