Multi lane vehicle lane change control method considering traffic flow density under vehicle road coordination

Multi-lane roads play a crucial role in modern urban transportation systems by enhancing traffic flow, reducing congestion, and improving overall efficiency, this paper designs a multi lane vehicle lane change control method based on the vehicle road coordination system. Firstly, design a lane change control system under vehicle road coordination, which collects, transmits, and processes vehicle and traffic flow information through roadside and onboard control systems. Secondly, a traffic flow density estimation method based on Kalman filtering is adopted to predict the traffic flow state and provide a basis for lane changing decisions. Finally, for multi lane vehicle lane changing control, a lane changing model based on safety conditions is constructed, covering both free lane changing and collaborative lane changing scenarios, to ensure safe and efficient lane changing and optimize traffic flow stability. The experimental results show that the success rate of vehicle lane changing using the proposed method is over 90%, and the average lane changing time is within 5s.