… can be exploited to assist the vehicle in cooperative motion planning. In this paper, we focus
… the cooperative trajectory planning of lane changes for connected and automated vehicles (…

… In order to determine when and where to perform coordinated lane change for connected
vehicles, we put forward a gain function model based on the incentive model to determine …

… model to represent the movement of vehicles. … vehicles that desired to make a lane change.
However, establishing the game between more vehicles, especially during congested traffic …

… implementation into models; and (2) easily integrate with a car following model to describe
… Therefore, we select the MOBIL model to simulate a lane changing maneuver. Along with …

… model construction of cooperative lane change model which … vehicle M set a cooperative
lane change request to its ambient area, this study sets vehicle A and vehicle D as cooperative …

… construct a centralized cooperative motion planning model in an … In order to subsequently
carry out the modeling research, we … control model for solving cooperative lane-change motion …

… Compared with [24], this paper contains all proofs of the main results, the lateral component
of the lane change maneuvers studied, and several new simulation results, including the …

… introduces the lane change function of all vehicles, establishes the optimal problem model,
… A microscopic traffic flow simulation model takes vehicles as the description unit, which can …

… proposed cooperative driving strategy. The simulation results show that the autonomous
vehicle … strategy in the overtaking and the lanechanging scenarios. This article focused on the …

… (MOBIL), a higher level lateral strategic control, evaluates the rules required for lane change
during mandatory and optional lane changes [12]. Acceleration trajectory, which follows a …