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Lane changing behavior is one of the most important tasks in driving. Cooperative lane change based on vehicle-vehicle (V2V) communication technology is getting extensive attention due to its potential to improve traffic safety and increase efficiency. In order to explore the internal mechanism of cooperative lane change behavior, the cooperative car-following model considering the stimulatory effect of lane-changing types is proposed in this paper. We investigate three lane changing types (free lane change, forced lane change, and cooperative lane change) to impact cooperative lane changing behavior. Based on this analysis, cooperative level function is presented. By using linear stability theory, the stability criterion of the proposed model is obtained. Simulation scenarios are set in three typical situations (starting process, stopping process and perturbation process) to analyze FVD model, cooperative driving for non-lane mode and cooperative driving for lane-changing mode. Simulation results indicate that cooperative driving of lane-changing mode has larger stable region compared to FVD model, cooperative driving for non-lane mode. Furthermore, the higher the level of cooperation, the greater the area of stability. Meanwhile, the simulation experiment also shows that response capability and smoothness of cooperative driving for lane-changing mode is be effectively promoted to the acceleration, velocity evolution.

The Cooperative Car-Following Model With Consideration of the Stimulatory Effect of Lane-Changing Types