In order to improve the safety, stability, and efficiency of lane change operating, this paper proposes a multivehicle-coordinated\nstrategy under the vehicle network environment. The feasibility of collaborative lane change operation is established by\nestablishing a gain function based on the incentive model. By comparing lane change gain with lane keeping gain, whether it is\nfeasible to perform the collaboration under current conditions can be judged. Based on the model predictive control (MPC), a\nmultiobjective optimization control function for cooperative lane change is established to realize the distributed control. A novel\ntwo-stage cooperative lane change framework is proposed, which divides the lane change process into the lane change phase and\nthe longitudinal headway adjustment phase. It is significant to solve the difficult numerical problem caused by the dimension of\ncollision-avoidance constraints and the nonlinearity of vehicle kinematics. In the first stage, the subject vehicle completes lane\nchange operation. Both longitudinal and lateral movements of the vehicle are considered to optimize the acceleration and the error\nof following distance at this stage; in the second stage, the operation of adjusting longitudinal headway between vehicles in the\ntarget lane is completed, and at this period, only the longitudinal motion of the vehicle is considered to optimize the vehicle\nacceleration error. The rolling optimization time domain algorithm is used to solve the optimization control problem step by step.\nFinally, based on the US NGSIM open-source traffic flow database, the accuracy and feasibility of the proposed strategy\nare verified.
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