With the development of automated driving, people's transportation will become more and more convenient. However, there are also some safety problems brought by automatic decision-making, especially in the case of emergency. It is far from enough to control the car based on the vehicle sensors, but the application of the technology “Internet of vehicles” enables vehicles to easily obtain the information of the surrounding vehicles and the road, which brings the possibility of V2V collaborative decision-making and control, and also brings new methods for safe response to complex traffic conditions. In this paper, the two-lane three-car scene is taken as the research object, aiming at the situation that a team composed of two cars needs to change lanes urgently when encountering roadblocks on the original road. Considering the different position and speed of the vehicle in the target lane, different lane changing control strategies are adopted to achieve the optimal control effect. In the scene construction, based on the technology of vehicle-road collaboration, the two cars perceive the roadblock in front within a certain distance, and then the head car makes the decision to change lanes. After the lane change decision is made, the lane change vehicle and the vehicle of the target lane will transfer the location information to each other and carry out corresponding control. In the process of lane change, the speed of three vehicles will be controlled to achieve a safe lane change distance. In order to verify the rationality of the scheme, this paper built a simulation platform based on the visual simulation software Carsim and conducted simulation tests for different scenarios. The results showed that under the collaborative control of multiple vehicles, the emergency obstacle avoidance problem in automated driving could be solved more safely and reasonably.

CICTP