A Cooperative Lane Change Control Strategy for Connected and Automated Vehicles by Considering Preceding Vehicle Switching

The cooperative lane change among several connected and automated vehicles (CAVs) provides ideas for enhancing the traffic safety efficiency issues caused by changes. However, most of existing studies mainly focus on independent analysis lateral longitudinal movements without considering impact motion motion. These works usually assume that target tracking-preceding are determined both vehicle following in lane. This work proposes a model predictive control (MPC)-based (CLC) strategy preceding switching correlation between motions. It builds movement based appropriate function curve integrates this construction coordinated using set linear piecewise functions design constraints objective optimization to provide smooth switch. An advanced solver is used solve problem step step. proposed validated numerical comparative experiments with two typical lane-changing scenarios. results show can smoothly complete during quickly realize stable tracking after changing lanes.