This paper proposes a cooperative lane-changing approach that considers the motion similarity between vehicles and conducts the numerical simulation experiment to verify its effectiveness. First, we take advantage of the real-time information interaction under connected and automated vehicle environment to design the lane-changing process. Second, the motion similarity between vehicles is used to improve the Intelligent Driver Model and the Minimizing Overall Braking Induced by Lane Changes model. Additionally, we consider the preceding vehicles' influence on the subject vehicle lane-changing intention and analyze the benefits of the subject vehicle lane-changing behavior on the traffic flows. Finally, we conduct a numerical simulation experiment based on MATLAB. The cooperative lane-changing approach is evaluated from the homogeneity of traffic flow, efficiency, safety, and comfort. The simulation results show that the cooperative lane-changing approach we proposed can effectively reduce delays, reduce the probability of vehicle collisions and reduce the braking amplitude of traffic flow.

Connected and Automated Vehicles;Motion Similarity;Lane-changing