Abstract The execution of lane changes has a strong impact on driving safety and traffic throughput. Therefore, it is highly desired to automate and coordinate lane changes. The subject of this paper is the scheduling of lane changes of a group of connected and autonomous vehicles (CAVs) with the aim of minimizing the time during which all lane changes are completed, while keeping small inter-vehicle distances. To this end, the paper first develops an algorithm for minimizing the lane change time of a single CAV. This algorithm is then successively applied to all lane-changing CAVs. As a special feature, the proposed algorithm analytically computes CAV reference trajectories based on a second-order vehicle model such that all computations can be carried out in real time. In addition, the developed method supports the implementation of the computed CAV trajectories using cooperative adaptive cruise control in order to ensure safe driving in a tight vehicle formation. Detailed simulation experiments and a comparison to a benchmark method demonstrate the superior performance of our method.
Highlights Propose a new method for coordinating lane changes of a group of CAVs Minimize the completion time of all lane changes in the group of CAVs Keep small inter-vehicle distances during lane changes for traffic efficiency Improve driving safety by implementing the computed trajectories using CACC Support arbitrary maneuvers of the group of CAVs including velocity changes Compute trajectories analytically to enable the implementation in real time
Lane change scheduling for connected and autonomous vehicles
2022-12-05
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch