Lane-changing simultaneously with complex platoon geometric is a complex and critical task for multi-connected autonomous vehicle (CAV). To tackle this problem, an adaptive lane-changing strategy (ALCS) is proposed in this paper. The adaptive performance of the ALCS is realized via three parts: 1) A dynamic motion state inference method (DMSIM) is introduced to generate the platoon geometric based on dynamic safe distance, taking into account the various position and velocity of multi-CAV within the platoon. 2) A polynomial-based path planner (PBPP) is designed to provide a velocity-adjustable path for lane-changing. This path planner enhances the adaptive of various velocity for multi-CAV. 3) A model predictive-based distributed controller (MPBDC) is designed to avoid collision between multi-CAV. This controller improves the controller’s capacity to handle velocity changes. Finally, the superiority of the strategy is demonstrated by simulation experiment.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Adaptive Lane-Changing Strategy for Multi-CAV with Complex Platoon Geometric


    Contributors:


    Publication date :

    2023-10-27


    Size :

    4776163 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Deep Q‐network based multi‐layer safety lane changing strategy for vehicle platoon

    Jinqi Zhang / Maode Yan / Lei Zuo | DOAJ | 2024

    Free access

    Deep Q‐network based multi‐layer safety lane changing strategy for vehicle platoon

    Zhang, Jinqi / Yan, Maode / Zuo, Lei | Wiley | 2024

    Free access

    Cooperative vehicle platoon control considering longitudinal and lane-changing dynamics*

    Hou, Kangning / Zheng, Fangfang / Liu, Xiaobo et al. | Taylor & Francis Verlag | 2024



    Active lane-changing model based on cellular automata to promote CAV platoon

    Zhang, Jian Xu / Wu, Chun Xiang | Springer Verlag | 2025

    Free access