Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control platoon there is a lack in-depth consideration lane changing. In order to make up for this vacancy, study focused dynamic gap in changing process. First, an intra-platoon potential field was established by combining repulsive force under vehicle safety gravity inside platoon, which can effectively characterize risk distribution around vehicles. Second, process designed critical distances different conflict situations were analyzed. Based this, proposed distance model Furthermore, we also found that within interval with upper lower bounds, from minimum non-platoon Finally, experiments conducted results showed could represent relationship between motion state surrounding Moreover, method be applied lane-changing maneuver self-organizing at strategic level CAVs system.