Cooperative Lane-Changing Strategy for Intelligent Vehicles

To avoid the frequent and unreasonable lane-changing behavior and enhance the driving comfort, a comfortable and safe lane-changing strategy for intelligent vehicles is investigated in this paper. The strategy mainly includes single-car expectation lane change and multi-vehicle cooperative lane change. By introducing comfort advantage into the velocity advantage of the traditional lane change incentive model, the total advantage optimization model is established, and the feasibility of the expected single lane change is determined. Considering the possible mutual interference in the expected lane change decision between vehicles, a game-theory-based multi-vehicle cooperative lane change decision model is established by using the two-matrix method, and solutions to the lane-changing decision are illustrated. Finally, simulations are carried out to verify the effectiveness of the proposed methods.