Cooperative Lane-Changing Model for Connect Automatically Vehicles Based on Minimum Safety Distance

In order to study the characteristics of connect automatically vehicles traffic flow under the environment of vehicle-road coordination, a cooperative lane-changing model for connect automatically vehicles based on minimum safety distance is proposed. This model overcomes the shortcomings of existing coordination lane-changing methods, which often ignore the specific motion state of surrounding vehicles. Through the establishment of a cooperative lane-changing situation, the process of the vehicle lane-changing is quantified. The cooperative process of vehicles can be realized by planning the acceleration and acceleration/deceleration time of each vehicle. Taking the safe distance of the lane-changing as the decision-making condition, the mathematical programming model is established to plan the longitudinal motion state of the vehicle, and the track change of fifth-order polynomial is adapted to fit the transverse motion process of the lane-changing vehicle. Finally, the feasibility of the model is verified by an example.