{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T14:08:19Z","timestamp":1770041299847,"version":"3.49.0"},"reference-count":48,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,1,4]],"date-time":"2023-01-04T00:00:00Z","timestamp":1672790400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Central Public-Interest Scientific Institution Basal Research","award":["2021-9081&2020-9018"],"award-info":[{"award-number":["2021-9081&2020-9018"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Freeway-diverging areas are prone to low traffic efficiency, congestion, and frequent accidents. Because of the fluctuation of the surrounding traffic flow distribution, the individual decision-making of vehicles in diverging areas is typically unable to plan a departure trajectory that balances safety and efficiency well. Consequently, it is critical that vehicles in freeway-diverging regions develop a lane-changing driving strategy that strives to improve both the safety and efficiency of divergence areas. For CAV leaving the diverging area, this study suggested a full-time horizon optimum solution. Since it is a dynamic strategy, an MPC system based on rolling time horizon optimization was constructed as the primary algorithm of the strategy. A simulation experiment was created to verify the viability of the proposed methodology based on a mixed-flow environment. The results show that, in comparison with the feasible strategies exiting to off-ramp, the proposed strategy can take over 60% reduction in lost time traveling through a diverging area under the premise of safety and comfort without playing a negative impact on the surrounding traffic flow. Thus, the MPC system designed for the subject vehicle is capable of performing an optimal driving strategy in diverging areas within the full-time and space horizon.<\/jats:p>","DOI":"10.3390\/s23020559","type":"journal-article","created":{"date-parts":[[2023,1,4]],"date-time":"2023-01-04T03:27:44Z","timestamp":1672802864000},"page":"559","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["A Dynamic Lane-Changing Driving Strategy for CAV in Diverging Areas Based on MPC System"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5738-4971","authenticated-orcid":false,"given":"Hongben","family":"Liu","sequence":"first","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}]},{"given":"Xianghui","family":"Song","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2186-3959","authenticated-orcid":false,"given":"Bo","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"},{"name":"Department of Automation, Tsinghua University, Beijing 100083, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4295-3067","authenticated-orcid":false,"given":"Jia","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4632-0726","authenticated-orcid":false,"given":"Huan","family":"Gao","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}]},{"given":"Yunyi","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Transportation Engineering, Central South University, Changsha 410017, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,1,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gao, K., Yan, D., Yang, F., Xie, J., Liu, L., Du, R., and Xiong, N.J.S. 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