Simulation Research On Highway Lane Change Decision Considering Vehicle Heterogeneity For Connected And Autonomous Vehicles

Connected and Autonomous vehicles(CAVs)are prevailing in the past decade.Different from human driving vehicles,whose driving behavior completely depend on drivers’ experience and judgment,CAVs can make the driving decision by themselves based on the operating status of surrounding vehicles within the communication range.Considering the heterogeneous traffic flow on highways,it is desirable to obtain better operations in the context of CAVs.Thus,this paper aims at developing a strategy for lane change decision considering the vehicle heterogeneity,and carries out the following research work with the purpose of improving the vehicle operation efficiency and driving safety in the highway.Firstly,this paper outlines the development history and functional characteristics of CAVs and based on the technical advantages of CAVs.A lane-changing decision-making framework for CAVs is designed to guide the vehicle’s entire lane-changing decision-making process in view of the lane-changing impact and collaborative lane-changing.Secondly,the lane-changing decision in the architecture is modeled,an automatic vehicle step by step lane-changing decision model considering vehicle heterogeneity in intelligent network environment is proposed..The model aims to minimize the impact of the target vehicle lane changing on the upstream traffic flow.The improved C-FVDM car following model is used as the vehicle state prediction model,and the improved MOBIL model is used as the lane change decision generation model.Finally,the lane change decision coordination is proposed.algorithm to avoid the conflict problem caused by multiple vehicles changing lanes at the same time.For the cooperative driving problem that cannot be handled by the above models,this paper proposes an autonomous vehicle game cooperative lane-changing decision model considering vehicle heterogeneity in a networked environment and constructs corresponding models for different lane-changing game strategies to guide vehicles to cooperatively change lanes.Finally,using Python for simulation analysis,the final conclusions are as follows:(1)Both lane-changing model proposed in this paper can effectively reduce the travel delay,the dispersion of lane-changing frequency and speed,and reduce the occurrence of emergency braking.to stand out.(2)Under the heterogeneous traffic flow of mixed cars and trucks,with the increase of the proportion of trucks,the average speed of the traffic flow gradually decreases,the travel delay gradually increases,and the number of lane changes increases;If it increases,the number of lane changes will gradually decrease after reaching the peak value,and the influence of the proportion of trucks on the traffic flow will also be weakened.