Connected Autonomous Vehicle Control Strategy for Mandatory Lane-Changing At Intersection: A Cyber-Physical System Perspective

Reasonable mandatory lane-changing of vehicles in the vicinity of signalized intersections is essential to traffic efficiency and vehicle safety at intersections. The negative impact of mandatory lane-changing under mixed traffic can be reduced by rationally controlling connected autonomous vehicles (CAVs). From the perspective of a cyber-physical system (CPS), a CAV mandatory lane change gap decision at the cyber decision layer is designed to reduce the negative impact of CAV mandatory lane changing on traffic efficiency. To address the issue of CAV mandatory lane change duration increases due to the uncertainty disturbance of human-driven vehicles (HVs), an HV state observer with unknown HVs control input, acceleration, and disturbance is designed at the cyber reconstruction layer. The simulation results show that the above method can effectively improve traffic efficiency and reduce CAV mandatory lane change duration under mixed traffic.