Lane change maneuver is a hot issue on the research of microscopic driving behavior. Among current studies, most of lane change models are built on basis of individual vehicle. However, the uncertainty of human driving vehicles often has a negative impact on lane change. Considering the reconstruction cost of the connected and automated vehicle and the high precision requirement of the automated driving control law, this paper puts forward a cooperative lane change model for connected vehicle on two-lane highway. It focuses on kinematic behavior of lane change vehicle and cooperative vehicle in the process of accelerated lane change. The model was implemented in MATLAB simulation, and a simple traffic scenario test was conducted to demonstrate the capability of the new model. The results show that the cooperative lane change model is available and practical, which can be well carried out in multiple vehicles with the simple real lane change scenario.

cooperative lane change model;kinematics;connected vehicle;simulation