Abstract: To enhance the safety, stability and efficiency in lane change, a multi-vehicle coordinated lane change strategy under the condition of intelligent network connection is proposed in this paper. The feasibility of coordinated lane change is judged by establishing a gain function based on incentive model. Based on model predictive control, a multi-objective optimization control function for coordinated lane change is built to realize distributed control in lane change process. For overcoming the difficulty in solving optimal control function, caused by the high-dimension of collision avoidance constraint and the nonlinearity of vehicle kinematics, a two-stage coordinated lane change framework is proposed, which divides the lane change process into sparse longitudinal distance phase and lane change phase. The rolling horizon optimization algorithm is adopted to solve the optimization control problem step by step. Finally, a Matlab/Simulink co-simulation is conducted based on US NGSIM open source traffic flow data, verifying the feasibility and correctness of the strategy proposed

Key words: intelligent driving, coordinated lane change, model predictive control, rolling optimization, V2V communication