Lane changing (LC) is a complex task of autonomous vehicles that involves the interactions among multiple vehicles. When the candidate gap for lane changing is not sufficient, certain autonomous vehicles can slow down to create a valid gap for other autonomous vehicles’ lane changing purpose. The paper proposes a cooperative lane changing schedule under full autonomous traffic flow for such purpose. Firstly an integrated model that combines gap-feasibility and lane changing trajectory is constructed. The lane changing trajectory is decoupled into spatial trajectory and speed profile. Then the cooperative trajectory optimization model is constructed for single lane changing request scenario using the optimal control. It is solved by discretization. The algorithm is texted under two cases. The results prove the usefulness of the proposed algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Lane Changing Schedule under Full Autonomous Vehicles Flow


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    3rd International Forum on Connected Automated Vehicle Highway System through the China Highway & Transportation Society ; 2020



    Publication date :

    2020-12-30




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Cooperative Lane Changing Schedule under Full Autonomous Vehicles Flow

    Qi, Hongsheng | British Library Conference Proceedings | 2020


    Lane changing for autonomous vehicles

    NAGASAKA NAOKI / PROKHOROV DANIL V | European Patent Office | 2016

    Free access

    METHODS FOR LANE CHANGING FOR AUTONOMOUS VEHICLES

    NAGASAKA NAOKI / PROKHOROV DANIL V | European Patent Office | 2017

    Free access


    Efficient Mandatory Lane Changing of Connected and Autonomous Vehicles

    Lin, Shang-Chien / Kung, Chia-Chu / Lin, Lee et al. | IEEE | 2021