A forward-looking sequential asynchronous lane-change strategy for vehicle platoon under cloud-vehicle-road integrated architecture AITranslate

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Basic Information:

DOI：10.23919/CHAIN.2025.000007

Chinese Library Classification Number:

Citation Information:

Traffic congestion and safety concerns pose major challenges in dense urban and highway networks, while vehicle platooning offers a promising solution by coordinating movements, reducing aerodynamic drag, and optimizing road utilization to enhance traffic efficiency and safety. Most existing multi-vehicle cooperative lane-change methods adopt a synchronous lane-change strategy, which could result in speed fluctuations and potential safety risks in dense traffic. To address these issues, this study proposes a forward-looking sequential asynchronous lane-change strategy, which dynamically computes the forward shift of vehicle trajectories using relative motion theory. Each following vehicle shifts its predecessor's trajectory forward by a calculated distance, ensuring lane changes occur precisely when the time headway (THW) to the preceding traffic vehicle (PTV) reaches a predefined threshold. Additionally, a spring-damper-based physical model is integrated to regulate longitudinal spacing, ensuring stable vehicle following dynamics. The proposed method is validated in CARLA simulations across various traffic densities, ranging from 2.5 to 10 veh/km/lane. Results show that it consistently outperforms the baseline synchronous strategy in lane travel time, speed fluctuation rate, and THW improvement. The best performance is observed at 5 veh/km/lane, where the proposed method reduces lane travel time by 7.5%, decreases speed fluctuation by 47.0%, and increases THW between the last platoon vehicle and the following traffic vehicle by 3.37 s compared to the baseline. These findings suggest that the proposed strategy could be a foundation for future advancements in cooperative driving, enabling more adaptive and resilient lane-changing behaviors in a cloud-vehicle-road integrated traffic environment.