Cooperative Lane-Changing Control Method for Connected Autonomous Driving Platoons

This paper proposes a cooperative lane-changing control method for connected autonomous driving platoons of to improve traffic efficiency. The method combines an improved PID longitudinal control algorithm with a quintuple polynomial function curve. Specifically, the speed of the lane-changing vehicle is updated longitudinally through the improved PID model and passed to the quintuple polynomial function to dynamically generate the desired lane-changing trajectory. This method takes into account the speed fluctuations of the vehicles ahead in the target lane to ensure safety during lane changes. To verify the feasibility of this strategy, simulation experiments were conducted using the Prescan/Simulink joint simulation platform. The results show that this strategy can achieve safe and efficient entry into the platoon at different speeds, ensuring the safety of lane-changing vehicles and the driving stability of the platoon.