An Efficient Lane Change Maneuver for Platoons of Vehicles in an Automated Highway System

In the current lane change maneuver for vehicles in a platoon under the California PATH automated highway system (AHS) architecture, a follower vehicle has to split from the rest of the platoon before making a lane change. This report proposes a method for adding a lane change within platoon maneuvers that allows the follower vehicle to change lanes and be directly inserted into another platoon without splitting either platoon The maneuver is performed by aligning and locking the longitudinal positions of the two platoons in adjacent lanes. The longitudinal controller for the lane changing follower is shown to maintain the string stability of the platoons. The leader law is modified for the common leader of the two locked platoons, while an intra-platoon spacing adjustment procedure is also designed for the purpose of the proposed maneuver.


  • English

Media Info

  • Media Type: Digital/other
  • Features: Bibliography; Figures; Tables;
  • Pagination: v.p.
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 01050298
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Report/Paper Numbers: UCB-ITS-PRR-2004-16
  • Contract Numbers: TO 4239
  • Created Date: May 3 2007 5:19PM