Multi-Vehicle Interactive Lane-Changing Velocity Change Model Based on Potential Energy Field

To quantitatively analyze velocity change in the interaction of multiple vehicles during the lane-changing process, this study defines the concepts of driving constraint region and multi-vehicle interaction region (MVIR) by analyzing the potential energy field. The attraction and repulsion effects of the target vehicle and surrounding vehicles are attributed to the area change in the overlapping parts of their MVIRs. A multi-vehicle interactive lane-changing method considering MVIR is proposed. A velocity change model of multi-vehicle interactive lane-changing is established to reveal the change regularity of velocity under multi-vehicle interactive lane-changing. The model parameters are calibrated using a P3-DT Beidou high-precision positioning direction finding receiver to collect vehicle coordinates and velocity. The error of vehicle velocity variation was less than 11%, which verified the validity of the velocity change model. The research results can guide drivers in completing the lanechanging process safely and quickly, and provide theoretical support for micro-traffic flow simulation, road traffic safety proactive prevention and control, multi-vehicle lane-changing rules, and multi-agent simulation platform construction.