中国物理B ›› 2026, Vol. 35 ›› Issue (7): 74702-074702.doi: 10.1088/1674-1056/ae27ae

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Effect of a dynamic cooperative lane-changing algorithm on traffic evolution of connected and automated vehicles system at diverging on two-lane highways

Shuang Ren(任爽)1,2, Shuichao Zhang(张水潮)1,2,†, Huaqing Liu(刘华清)1,2,‡, and Chen Zheng(郑晨)1,2   

  1. 1 School of Civil and Transportation Engineering, Ningbo University of Technology, Ningbo 315211, China;
    2 Zhejiang Engineering Research Center of Digital Road Construction Technology, Hangzhou 310012, China
  • 收稿日期:2025-09-16 修回日期:2025-11-20 接受日期:2025-12-04 发布日期:2026-07-07
  • 通讯作者: Shuichao Zhang, Huaqing Liu E-mail:zhangshuichao@nbut.edu.cn;liuhuaqing@nbut.edu.cn
  • 基金资助:
    This work was supported by the Natural Science Foundation of Zhejiang Province of China (Grant No. LTGG23E080005), the Scientific Research Project Funded by Ningbo University of Technology (Grant No. 2023KQ083), the General Research Project (Postgraduate Special) of Ningbo Institute of Technology (Grant No. 2024NGYA002), and research was supported by Ningbo Key Research and Development Plan Project (Grant No. 2023Z230)”.

Effect of a dynamic cooperative lane-changing algorithm on traffic evolution of connected and automated vehicles system at diverging on two-lane highways

Shuang Ren(任爽)1,2, Shuichao Zhang(张水潮)1,2,†, Huaqing Liu(刘华清)1,2,‡, and Chen Zheng(郑晨)1,2   

  1. 1 School of Civil and Transportation Engineering, Ningbo University of Technology, Ningbo 315211, China;
    2 Zhejiang Engineering Research Center of Digital Road Construction Technology, Hangzhou 310012, China
  • Received:2025-09-16 Revised:2025-11-20 Accepted:2025-12-04 Published:2026-07-07
  • Contact: Shuichao Zhang, Huaqing Liu E-mail:zhangshuichao@nbut.edu.cn;liuhuaqing@nbut.edu.cn
  • Supported by:
    This work was supported by the Natural Science Foundation of Zhejiang Province of China (Grant No. LTGG23E080005), the Scientific Research Project Funded by Ningbo University of Technology (Grant No. 2023KQ083), the General Research Project (Postgraduate Special) of Ningbo Institute of Technology (Grant No. 2024NGYA002), and research was supported by Ningbo Key Research and Development Plan Project (Grant No. 2023Z230)”.

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摘要： The diverging sections of two-lane highways are a typical traffic bottleneck in urban cities. Due to unregulated lane-changing (LC) behaviors, velocity oscillation and traffic congestion frequently occur. In this paper, a dynamic cooperative lane-changing (DCLC) algorithm is introduced to coordinate the LC behaviors of connected autonomous vehicles (CAVs) in a control zone upstream of the diverging point. For a CAV with LC demand, its virtual leader and follower on the adjacent lane are dynamically determined based on relative distances in real time. It will change lane if the safety time gap is satisfied. With the normal lane-changing algorithm as a benchmark, the phase transition and evolution of the traffic system are investigated and compared. Simulation results demonstrate that the proposed DCLC algorithm has a positive effect on traffic capacity. After the DCLC algorithm is implemented, the LC behaviors of CAVs are concentrated in the middle of the control zone, rather than being distributed near the diverging point in the benchmark. Moreover, some system characteristics have also been improved significantly. Finally, the sensitivities of demand and safety time gap in LC are analyzed to verify the universality of the DCLC algorithm in improving traffic performance.

关键词: diverging, cooperative adaptive cruise control (CACC), virtual vehicles, lane-changing (LC), monetary cost

Abstract: The diverging sections of two-lane highways are a typical traffic bottleneck in urban cities. Due to unregulated lane-changing (LC) behaviors, velocity oscillation and traffic congestion frequently occur. In this paper, a dynamic cooperative lane-changing (DCLC) algorithm is introduced to coordinate the LC behaviors of connected autonomous vehicles (CAVs) in a control zone upstream of the diverging point. For a CAV with LC demand, its virtual leader and follower on the adjacent lane are dynamically determined based on relative distances in real time. It will change lane if the safety time gap is satisfied. With the normal lane-changing algorithm as a benchmark, the phase transition and evolution of the traffic system are investigated and compared. Simulation results demonstrate that the proposed DCLC algorithm has a positive effect on traffic capacity. After the DCLC algorithm is implemented, the LC behaviors of CAVs are concentrated in the middle of the control zone, rather than being distributed near the diverging point in the benchmark. Moreover, some system characteristics have also been improved significantly. Finally, the sensitivities of demand and safety time gap in LC are analyzed to verify the universality of the DCLC algorithm in improving traffic performance.

Key words: diverging, cooperative adaptive cruise control (CACC), virtual vehicles, lane-changing (LC), monetary cost

中图分类号:  (Turbulence simulation and modeling)

  • 47.27.E-
47.27.T- (Turbulent transport processes) 45.70.Vn (Granular models of complex systems; traffic flow) 45.05.+x (General theory of classical mechanics of discrete systems)