Cooperative Lane Changing Strategies to Improve Traffic Operation and Safety Nearby Freeway Off-Ramps in a Connected and Automated Vehicles Environment

Zheng, Yuan; Ran, Bin; Xu, Qing; Zhang, Jian; Lin, Yi Chun

doi:10.1109/tits.2019.2942050

Cited by 86 publications

(36 citation statements)

References 33 publications

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“…The variable N is the maximum vehicle number of the group, which ensures the size of the group is in the reasonable range. The variable G i,desired is determined by the desired gap in the intelligent driver model (IDM) [27], [34], which ensures that vehicles with possible conflicts are divided into the same group. G i,desired is defined in Eq (1),…”

Section: Vehicle Groupingmentioning

confidence: 99%

“…Only when limitation equations of the inter-vehicle traffic gap and time instance are met, the lane change is allowed. To improve the traffic efficiency, the variable desired gap is also put forward, which considers the information of immediate surrounding vehicles and ensures the flexible gap [26], [27]. However, if there is no appropriate lane change gap or cooperative zone, the lane change operation will be delayed or cancelled.…”

Section: Introductionmentioning

confidence: 99%

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A Cooperative Lane Change Model for Connected and Automated Vehicles

Chan³

et al. 2020

IEEE Access

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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.

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Section: Vehicle Groupingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Cooperative Lane Change Model for Connected and Automated Vehicles

Chan³

et al. 2020

IEEE Access

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show abstract

“…The traffic simulation technique, which is regarded as an acceptable surrogate method, is used to evaluate the proposed strategy. To characterise the car following and lane change behaviours, microscopic models were widely used in previous studies, such as the IDM [23–26] and MOBIL [27, 28]. Our study requires precise vehicular control, and thus the simulation platform for CAVs needs to be built based on the microscopic models.…”

Section: Simulation Platform For Cavsmentioning

confidence: 99%

“…Moreover, the modified IDM [29] and MOBIL are used to simulate the communication effects with the weighted state information of surrounding vehicles. Considering the features of inter‐communications between vehicles, a simulation platform of a CAV environment was built based on the modified IDM and MOBIL, as indicated by the previous studies [27, 30]. It can better simulate the effects of advanced connection and automation technologies on the car following and lane changing manoeuvres of CAVs.…”

Section: Simulation Platform For Cavsmentioning

confidence: 99%

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Coordinated decisions of discretionary lane change between connected and automated vehicles on freeways: a game theory‐based lane change strategy

Zheng

Ding²,

2020

IET intell. transp. syst

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Discretionary lane change is an essential part of connected and automated vehicles (CAVs) on freeway segments. Most existing studies were conducted to optimise the individual decision of discretionary lane change of CAVs. However, the effects of motion states and discretionary lane change decisions from the surrounding vehicles via vehicle to vehicle communication were ignored. To address such a problem, a game theory‐based lane change strategy is proposed to collaborate and optimise decisions of discretionary lane change between the CAVs. The payoff functions are formulated for three types of decision games and the payoff of each decision is quantitatively calculated considering the state information of surrounding vehicles. The Nash equilibrium is applied to find the optimal decision set for players. A simulation platform of a CAV environment built is used to conduct the simulation experiments. Various metrics are employed to evaluate the proposed strategy, such as total travel delay, surrogate safety measurement and wave number. The results show that the proposed lane change strategy using a game‐theoretical approach can effectively improve traffic operation, safety and oscillations compared to the baseline strategy. The proposed lane change strategy can further benefit the implementations of the CAVs.

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Connected autonomous vehicles: State of practice

Islam

Newaz

Song

et al. 2023

Appl Stoch Models Bus & Ind

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Connected autonomous vehicles (CAVs) have the potential to deal with the steady increase in road traffic while solving transportation related issues such as traffic congestion, pollution, and road safety. Therefore, CAVs are becoming increasingly popular and viewed as the next generation transportation solution. Although modular advancements have been achieved in the development of CAVs, these efforts are not fully integrated to operationalize CAVs in realistic driving scenarios. This paper surveys a wide range of efforts reported in the literature about the CAV developments, summarizes the CAV impacts from a statistical perspective, explores current state of practice in the field of CAVs in terms of autonomy technologies, communication backbone, and computation needs. Furthermore, this paper provides general guidance on how transportation infrastructures need to be prepared in order to effectively operationalize CAVs. The paper also identifies challenges that need to be addressed in near future for effective and reliable adoption of CAVs.

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Cooperative Lane Changing Strategies to Improve Traffic Operation and Safety Nearby Freeway Off-Ramps in a Connected and Automated Vehicles Environment

Cited by 86 publications

References 33 publications

A Cooperative Lane Change Model for Connected and Automated Vehicles

A Cooperative Lane Change Model for Connected and Automated Vehicles

Coordinated decisions of discretionary lane change between connected and automated vehicles on freeways: a game theory‐based lane change strategy

Connected autonomous vehicles: State of practice

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