Cooperative Lane-Change Maneuver for Multiple Automated Vehicles on a Highway

作     者：Yugong Luo Gang Yang Mingchang Xu Zhaobo Qin Keqiang Li 

作者机构：Department of Automobile EngineeringTsinghua UniversityBeijing 100084China Huawei Technologies Co.LtdShanghai 200135China 

出 版 物：《Automotive Innovation》 (汽车创新工程（英文）)

年 卷 期：2019年第2卷第3期

页      面：157-168页

核心收录：

学科分类：08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程] 

基　　金：This research was funded by the National Key R&D Program of China(Grant No.2016YFB0100905) the State Key Program of National Natural Science Foundation of China under Grant No.U1564208 

主　　题：Cooperative automated lane change Safety spacing model Cooperative trajectory planning Trajectory tracking 

摘      要：With the development of vehicle-to-vehicle(V2V)communication,it is possible to share information among multiple ***,the existing research on automated lane changes concentrates only on the single-vehicle lane change with self-detective *** lane changes are still a new area with more complicated scenarios and can improve safety and lane-change ***,a multi-vehicle cooperative automated lane-change maneuver based on V2V communication for scenarios of eight vehicles on three lanes was *** these scenarios,same-direction and intersectant-direction cooperative lane changes were *** vehicle that made the cooperative decision obtained the information of surrounding vehicles that were used to cooperatively plan the trajectories,which was called cooperative trajectory *** cooperative safety spacing model was proposed to guarantee and improve the safety of all vehicles,and it essentially developed constraints for the trajectory-planning *** planning was treated as an optimization problem with the objective of maximizing safety,comfort,and lane-change efficiency under the constraints of vehicle dynamics and the aforementioned safety spacing *** tracking based on a model predictive control method was designed to minimize tracking errors and control ***,to verify the validity of the proposed maneuver,an integrated simulation platform combining MATLAB/Simulink with CarSim was ***,a hardware-in-the-loop test bench was performed for further *** results indicated that the proposed multi-vehicle cooperative automated lane-change maneuver can achieve lane changes of multiple vehicles and increase lane-change efficiency while guaranteeing safety and comfort.