Research Of Discretionary Lane Change Model For Connected And Autonomous Vehicles On Expressway

An emerging conception of vehicles called connected and autonomous vehicle has been proposed widely over recent years.Connected and autonomous vehicles are different from tranditional vehicles in terms of capturing information,deciding and controlling.So some new phenomenons and features in traffic may be brought from connected and autonomous vehicles,and some existing models of microscopic traffic can not describe the behaviors of connected and autonomous vehicles.Changing lane is one of the main and basic driving behaviors.Therefore,this paper proposes a model to express the decision of changing lane of connected and autonomous vehicles,which considers the advantages of connected and autonomous vehicles.Firstly,the paper analyzes the system structure and functions of connected and autonomous vehicles based on the president researches.According to the fuctions of connected and autonomous vehicles,such as detecting information automatically and communication in real-time,we designed a way for connected and autonomous vehicles to make a lane-changing decision.The key sections of lane-changing decision process are alone lane-changing decision and cooperative lane-changing.The paper also proposes some hypothesizes for researching.Secondly,the model of the alone lane-changing decision is studied.The alone lane-changing decision model is an improvement of the MOBIL(Minimize Overall Braking Induced by Lane change)model The alone lane-changing decision model considers the effects caused by lane-changing on more than one following vehicles and putative following vehicles.The aim is to reduce the influences on upstream traffic.Thirdly,cooperative lane-changing behavior is modeled by employing game theory.In the paper,the cases of cooperative lane-changing are divided into four categories,and each category is analyzed and described by game theory.An algorithm solved these game theory problems is also desigened in the paper.Fourthly,we desigens and implements a simulation experiment by exploiting Matlab.The proposed model is compared with MOBIL model in the experiment.The results showed that the proposed model performances better than MOBIL modeL It improves the efficiency,homogeneity,safety and comfort of traffic flow,and prevents connected and autonomous vehicles from changing lane frequently and extremely.Finally,the conclusion and future studies are presented in the last section.