A novel lane-changing model of connected and automated vehicles: Using the safety potential field theory

Li, Linheng; Gan, Jing; Zhou, Kun; Xu, Qing; Ran, Bin

doi:10.1016/j.physa.2020.125039

Cited by 65 publications

(20 citation statements)

References 13 publications

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“…The repulsive potential field is a typical potential field that was widely applied in the traffic environment. In a previous study [16], the existing repulsive potential field model was established by considering the spatial position of surrounding vehicles and their motion state. The specific expression of the model is shown in the following equation:…”

Section: Intra-platoon Potential Fieldmentioning

confidence: 99%

“…Meanwhile, lane changing was classified according to the driver's sensitivity to the safety distance. Li et al [16] used the safety potential field model to classify the critical conditions of vehicle lane changing, and established a vehicle lanechanging model by considering vehicle speed and acceleration. With the development of the strategy of lane-changing behavior reflecting driving factors and the method of determining the appropriate lane changing trajectory, non-platoon-vehicle lane changing with different driving styles (slow and cautious or sudden and aggressive) can be simulated by changing the parameters of models.…”

Section: Introductionmentioning

confidence: 99%

“…The field theory opens up a new perspective for traffic flow modeling. In our previous research, we took safe driving as the goal and established a lane-changing model for non-platoon vehicles based on the safety potential field in combination with the characteristics of real-time perception and sharing of vehicle speed, acceleration, and other information in the CAVs system [16,24]. In this study, based on the original research, a new field model that is suitable for platoon lane changing was established.…”

Section: Introductionmentioning

confidence: 99%

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Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

et al. 2021

Applied Sciences

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Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control of platoon and there is a lack of in-depth consideration of platoon lane changing. In order to make up for this vacancy, this study focused on the dynamic gap in the platoon lane changing process. First, an intra-platoon potential field of vehicles in the platoon was established by combining the repulsive force under vehicle safety and the gravity inside the platoon, which can effectively characterize the risk distribution around vehicles. Second, the platoon lane changing process was designed and critical distances of platoon vehicles under different conflict situations were analyzed. Based on this, this study proposed a critical distance model of platoon lane changing. Furthermore, we also found that the critical distances for platoon lane changing were within an interval with upper and lower bounds, which was different from the minimum distance of non-platoon vehicles. Finally, experiments were conducted and the results showed that the proposed model could effectively represent the relationship between the distance between vehicles in the platoon and the motion state of the surrounding vehicles. Moreover, the proposed method could also be applied to the lane-changing maneuver of a self-organizing platoon at a strategic level in a CAVs system.

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Section: Intra-platoon Potential Fieldmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

et al. 2021

Applied Sciences

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“…Most importantly, the vehicles can perceive some movement information that human drivers cannot directly perceive, such as acceleration and the steering angle of surrounding vehicles. Therefore, the vehicles can provide feedback on the required motion behavior in combination with the actual traffic environment and driving requirements [1][2]. Benefit from those characteristics described above, CAVs have the potential for the improvement of traffic flow performance in many aspects (e.g.,traffic safety, traffic efficiency, stability performance, and energy-saving) [3]- [8].…”

Section: Introductionmentioning

confidence: 99%

A Macroscopic Model of Heterogeneous Traffic Flow Based on the Safety Potential Field Theory

Gan

et al. 2021

IEEE Access

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“…Considering the risk of lane-changing produced by vehicle-to-vehicle (V2V) communication delay, Hongil and Jae-Il [18] proposed an oriented bounding box (OBB) method which reduces communication delay by defining the lateral and longitudinal gradient controllers. Li et al [19] proposed a new lane-changing model based on CVs to evaluate the critical vehicle distance in lane-changing process. e safety potential field theory was integrated, and the vehicle movement state under different speed and acceleration conditions is dynamically presented.…”

Section: Introductionmentioning

confidence: 99%

Multilane Spatiotemporal Trajectory Optimization Method (MSTTOM) for Connected Vehicles

Wang

Deng

et al. 2020

Journal of Advanced Transportation

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It is agreed that connected vehicle technologies have broad implications to traffic management systems. In order to alleviate urban congestion and improve road capacity, this paper proposes a multilane spatiotemporal trajectory optimization method (MSTTOM) to reach full potential of connected vehicles by considering vehicular safety, traffic capacity, fuel efficiency, and driver comfort. In this MSTTOM, the dynamic characteristics of connected vehicles, the vehicular state vector, the optimized objective function, and the constraints are formulated. The method for solving the trajectory problem is optimized based on Pontryagin’s maximum principle and reinforcement learning (RL). A typical scenario of intersection with a one-way 4-lane section is measured, and the data within 24 hours are collected for tests. The results demonstrate that the proposed method can optimize the traffic flow by enhancing vehicle fuel efficiency by 32% and reducing pollutants emissions by 17% compared with the advanced glidepath prototype application (GPPA) scheme.

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A novel lane-changing model of connected and automated vehicles: Using the safety potential field theory

Cited by 65 publications

References 13 publications

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

A Macroscopic Model of Heterogeneous Traffic Flow Based on the Safety Potential Field Theory

Multilane Spatiotemporal Trajectory Optimization Method (MSTTOM) for Connected Vehicles

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