Collaborative lane changing method for multiple autonomous vehicles in the internet of vehicles environment

The collaborative lane changing method innovatively utilises real-time communication and data sharing mechanisms, greatly enhancing the safety of the lane changing process and enabling vehicles to accurately predict each other's intentions and behaviours. Via real-time data sharing and system cooperation, the relationships of autonomous vehicles across global, local, and relative coordinates are thoroughly examined to develop a 3-DOF dynamic model. This model precisely captures lane-changing dynamics, laying a robust groundwork for optimising collaborative lane-changing strategies. By defining start and end constraints, and integrating motion states with crash analysis, the synchronised lane changes of multiple autonomous vehicles are achieved. The experimental results show that the collision avoidance success rate of this innovative method is as high as 98%, and the lane changing time does not exceed 3 seconds, demonstrating excellent performance.