An evaluation of lane changing process based on cloud model and incentive-punishment variable weights*

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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Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Journal of Advanced Transportation ◽

10.1155/2017/8132769 ◽

2017 ◽

Vol 2017 ◽

pp. 1-11 ◽

Cited By ~ 13

Author(s):

Haijian Bai ◽

Jianfeng Shen ◽

Liyang Wei ◽

Zhongxiang Feng

Keyword(s):

Boundary Conditions ◽

Simulation Model ◽

Trajectory Planning ◽

Polynomial Method ◽

Vehicle Model ◽

Automated Vehicles ◽

Lane Changing ◽

Cooperative Strategies ◽

Vehicle To Vehicle ◽

Changing Process

Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper aims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC). Based on the characteristics of accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lane-changing model under different degrees of collaboration with the following vehicle in the target lane by considering vehicle kinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round vehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships between the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated lane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC, we can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and comfort control.

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A microscopic lane changing process model for multilane traffic

Physica A Statistical Mechanics and its Applications ◽

10.1016/j.physa.2012.11.012 ◽

2013 ◽

Vol 392 (5) ◽

pp. 1142-1152 ◽

Cited By ~ 27

Author(s):

Wei Lv ◽

Wei-guo Song ◽

Xiao-dong Liu ◽

Jian Ma

Keyword(s):

Process Model ◽

Lane Changing ◽

Changing Process

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Modelling the effect of human anticipation on driving maneuvers in lane changing process

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC) ◽

10.1109/itsc.2017.8317698 ◽

2017 ◽

Author(s):

Li Li ◽

Yun-Tao Chang ◽

Dong Zhang ◽

Hong-Feng Xu

Keyword(s):

Lane Changing ◽

Changing Process

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Investigating model and impacts of lane-changing execution process based on CA model

International Journal of Modern Physics C ◽

10.1142/s0129183120501715 ◽

2020 ◽

Vol 31 (12) ◽

pp. 2050171

Author(s):

Meiying Jian ◽

Xiaojuan Li ◽

Jinxin Cao

Keyword(s):

Decision Making ◽

Simulation Models ◽

Intelligent Vehicles ◽

Traffic Density ◽

Decision Making Process ◽

Observation Data ◽

Lateral Movement ◽

Lane Changing ◽

Movement Rules ◽

Changing Process

Lane changing is one of the basic driving behaviors and consists of lane-changing decision-making process and lane-changing execution process. However, most existing traffic simulation models focus on lane-changing decision-making process and assume that drivers complete their lane-changing behaviors instantaneously. Then these models may not reproduce the actual traffic phenomenon. Furthermore, there are several failed lane-changing behaviors, referring to that drivers may go back to the original lane during lane-changing process. And the impacts of these behaviors have not been investigated up to now. In order to characterize the lateral movement process and to investigate its impacts on traffic flow, this study puts forward a symmetric two-lane cellular automaton model with lane-changing execution (STCA-LE model). In this model, the lateral movement rules of lane changing vehicles are formulated and introduced. The results of numerical simulation indicate that there is a positive relationship between the lane-changing duration and traffic density that is consistent with observation data analysis. Based on this model, the lane-changing trajectories and impacts of lane-changing process are investigated by introducing the critical lane-changing duration. The results of this study could be taken as an important reference to the development of traffic measures and the designation of intelligent vehicles.

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