Trajectory planner for platoon lane change*

Abstract

This research proposes a Cooperative Adaptive Cruise Control Lane Change (CACCLC) controller. It is designed for making space to change lane successfully. The proposed controller has the following features: i) capable of making space to change lane by adopting a new Backward-Looking (BL) information topology; ii) with string stability; iii) with consideration of vehicle dynamics. The proposed CACCLC controller is evaluated on a joint simulation platform consisting of PreScan and Matlab/Simulink. Results demonstrate that: i) a lane-change gap for a single vehicle could be utilized for CACCLC maneuver; ii) the proposed CACCLC controller is with string stability and could eliminate 66.76% gap error from the end to the start of a platoon.