Dynamic Cooperative Automated Lane-Change Maneuver Based on Minimum Safety Spacing Model*

Cooperative lane-change has received considerable attention since the rapid development of vehicle-to-vehicle communication and intelligent transportation system. In this paper a dynamic cooperative lane-change maneuver is proposed, aiming to maintain safety both on the early stage of lane-change maneuver and during the lane-change process. The variable states of surrounding vehicles are taken into consideration. To fit this condition, an improved minimum safety spacing (MSS) model is established, which can calculate safe distance between every two vehicles for each time point during the lane-change process. Based on the calculation results of MSS model, a dynamic lane-change trajectory planning and re-planning method is proposed to obtain safe trajectories and avoid collisions. To verify the validity of the maneuver, some typical lane change scenarios as well as the influence of communication are simulated. The results indicate that the proposed maneuver can achieve efficient and safe cooperative lane-change behavior under complicated conditions when there is no speed limit on the surrounding vehicles.