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Collaborative lane change technology for intelligent connected vehicles has been widely studied，but existing strategies can hardly solve the problem of vehicle collaboration in mandatory lane change scenarios or may cause notable impact on upstream traffic. For mandatory lane change scenarios demand，a two-stage cooperative lane change strategy considering theoretical minimal safety space is proposed in this paper. Firstly，the control architecture for a two-vehicle cooperative lane change system is proposed and a collaborative lane change scheme is developed for mandatory lane change scenarios. Then，a two-stage receding-horizon trajectory planning strategy of spacing adjustment and collaborative lane change is designed，where the theoretical minimum safe distance is embedded as a constraint of spacing adjustment stage，to solve the problem of conservative spacing strategies in existing research. Finally，numerical simulation and hardware in-loop experiments are performed to verify the effectiveness，advantages and computational real-time performance of the proposed strategy. The results show that the proposed strategy can effectively improve the success rate of lane change，reduce the negative traffic impact while ensuring lane change safety，and is also applicable in real time computing and communication environment of actual edge cloud platform.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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