Multivehicle Cooperative Lane Change Control Strategy for Intelligent Connected Vehicle

Table 1

Comparison of different methods.

Characteristics	Reference
	[9]	[10]	[11]	[12]	[13]	[14]	[15]	[16]	This work
Focus on decision-making of cooperative lane change	✓	✓	✓	✓	✓	✗	✗	✗	✓
Focus on control models of cooperative lane change	✗	✗	✗	✗	✗	✓	✓	✓	✓
Lane-change manoeuvres are not limited to specified patterns	✓	✓	✗	✓	✗	✗	✗	✓	✓
Multiple vehicles can change lanes simultaneously	✗	✓	✗	✓	✗	✗	✗	✓	✓
Collision-avoidance constraints are precise	✗	✗	✗	✗	✗	✓	✗	✓	✓
Solutions are obtained in real time	✓	✓	✗	✓	✓	✓	✓	✓	✓