Chang'an University

Lu Zeng

Xiangmo Zhao

Siyuan Gong

Xia Wu

Licheng Zhang

Yukun Ding

Kang Sun

Ze Li

Guohui Zheng

Wenjing Wang

Congli Zhang

Jiakai Yin

Hongda Chang

Xinxin Wang

Yihan Sun

Yuqian Ma

A smooth cooperative lane change control method for multi-connected and autonomous vehicles (CAVs), including: acquiring vehicle information of a lane-changing vehicle M and four surrounding vehicles A, B, C and D; constructing uncontrolled-vehicle and controlled-vehicle motion state prediction models; according to the motion state prediction models, predicting motion states of the lane-changing vehicle M, and the vehicles A, B, C and D; constructing an upper-layer optimization model to calculate an optimal control value and an optimized motion state of the lane-changing vehicle M and an optimal control value of the vehicle A; constructing a lower-layer optimization model to calculate an optimal control value of the vehicle D; and controlling the lane-changing vehicle M, the vehicle A and the vehicle D to run according to a corresponding optimal control value.

Smooth cooperative lane change control method for multi-connected and autonomous vehicle (CAV)

Growing community of inventors

Xi'an, China

Lu Zeng