With the extension of intelligent vehicles from individual intelligence to group intelligence, intelligent vehicle platoons on intercity highways are important for saving transportation costs, improving transportation efficiency and road utilization, ensuring traffic safety, and utilizing local traffic intelligence [1]. However, there are several problems associated with vehicle platoons including complicated vehicle driving conditions in or between platoon columns, a high degree of mutual influence, dynamic optimization of the platoon, and difficulty in the cooperative control of lane change. Aiming at the dual-column intelligent vehicle platoon control (where “dual-column” refers to the vehicle platoon driving mode formed by multiple vehicles traveling in parallel on two adjacent lanes), a multi-agent model as well as a cooperative control method for lane change based on null space behavior (NSB) for unmanned platoon vehicles are established in this paper. Specifically, a multi-agent model of the dual-column vehicle platoon is first established, which adopted a dual-star communication architecture based on “vehicle-to-vehicle” interactions. Then, rules for changing lanes between platoons are designed, and a method based on the risk perception coefficient for determining the priority of the task is developed. Finally, a cooperative control method of lane change based on NSB is proposed to further resolve the conflict between the lane change task and the collision avoidance task. The cooperative control method based on NSB is validated under the condition of sudden deceleration during the lane change task using a driving simulator. Validation results demonstrate that the method can ensure the safety of the platoon and implement cooperative lane change between the platoon columns stably and efficiently.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Lane Change Control Based on Null-Space-Behavior for a Dual-Column Intelligent Vehicle Platoon


    Additional title:

    Sae Technical Papers


    Contributors:
    Yan, Danshu (author) / Liang, Kaichong (author) / Yu, Qin (author) / Zhao, Zhiguo (author)

    Conference:

    SAE 2023 Intelligent and Connected Vehicles Symposium ; 2023



    Publication date :

    2023-12-20




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    INTELLIGENT VEHICLE PLATOON LANE CHANGE PERFORMANCE EVALUATION METHOD

    LI XU / HU WEIMING / XU QIMIN et al. | European Patent Office | 2022

    Free access

    Intelligent vehicle platoon lane change performance evaluation method

    LI XU / HU WEIMING / XU QIMIN et al. | European Patent Office | 2023

    Free access


    LANE CHANGE LIKE A SNAKE: COOPERATIVE ADAPTIVE CRUISE CONTROL WITH PLATOON LANE CHANGE CAPABILITY

    Wang, Haoran / Li, Xin / Hu, Jia | British Library Conference Proceedings | 2020


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

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