Considering the complexity of lane changing using automated vehicles and the frequency of turning lanes in city settings, this paper\naims to generate an accelerated lane-changing trajectory using vehicle-to-vehicle collaboration (V2VC). Based on the characteristics\nof accelerated lane changing, we used a polynomial method and cooperative strategies for trajectory planning to establish a lanechanging\nmodel under different degrees of collaboration with the following vehicle in the target lane by considering vehicle\nkinematics and comfort requirements. Furthermore, considering the shortcomings of the traditional elliptical vehicle and round\nvehicle models, we established a rectangular vehicle model with collision boundary conditions by analysing the relationships\nbetween the possible collision points and the outline of the vehicle. Then, we established a simulation model for the accelerated\nlane-changing process in different environments under different degrees of collaboration. The results show that, by using V2VC,\nwe can achieve safe accelerated lane-changing trajectories and simultaneously satisfy the requirements of vehicle kinematics and\ncomfort control.
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