United States Department of Transportation
i
Connected Autonomous Vehicles: Safety During Merging and Lane Change and Impact on Traffic Flow
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2020-09-01
[PDF-5.02 MB]
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Edition:Final Report, Feb 1, 2019 -April 30, 2020
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Abstract:In this report we address the problem of cooperative lane change maneuvers where vehicles communicate with each other and negotiate the creation of safe spacings in order to merge without taking any safety risks. The proposed approach requires that the merging vehicle negotiates the creation of a safety gap in the destination lane and till the lane change maneuver is completed it operates as having two possible leaders, one in its own lane and one in the destination lane. In addition, the future following vehicle in the destination lane operates as if the merging vehicle has already changed lanes. This approach leads to a smooth creation of spacings for the vehicle to merge into while safety is guaranteed. Furthermore, we expand this solution to platoons of vehicles, develop the communication protocol to be followed, which includes a rule to avoid possible conflicts, and propose measurement verification steps to identify sensor or communication failures. Extensive simulations are used to demonstrate and evaluate the approach under different conditions. They allow us to verify that the proposed control policy generates the desired smooth gap generation behavior. Moreover, we can conclude that the developed methods improve traffic safety and efficiency and reduce environmental impact.
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