Dynamic Lane Changing Control of Vehicle Platoon

In this paper, a cooperative approach for control heterogeneous connected and autonomous vehicles (CAVs) platoon considering lane-change maneuvers is proposed. In complex dynamic traffic environment, the speed of the surrounding vehicles of CAVs changes dynamically. Thus, the lane changing vehicle requires considering velocity fluctuations to achieve safe driving. The aim of this study is to combine dynamic path planning based on a cubic curve and model predictive control (MPC) with collision avoidance constraint to track an optimally generated path. The proposed control performs as a maneuver switching model including the vehicle's continuous states and discrete maneuver transition rule for the platoon merging and splitting events. Simulations have been performed on different scenarios and results illustrate the performance and effectiveness of the proposed approach.