## 6 Simulation Solution
### Changing Lanes in Obstructed Traffic Scenarios
The efficiency demand for completing the lane change quickly and the economic demand for vehicles need to compensate for the longitudinal displacement before or after the lane change. The speed before the lane change is less than after the lane change, so if the lane change is performed first, it will actually increase energy consumption. Figure 11: Energy consumption in different lane-changing scenarios; they should be listed as (**a**) without surrounding obstacle vehicles and (**b**) with surrounding obstacle vehicles. \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multirow{2}{*}{\begin{tabular}{c} **Lane Changing** \\ **Scene** \\ \end{tabular} } & \multirow{2}{*}{**Driving Needs**} & \multirow{2}{*}{\begin{tabular}{c} **longitudinal** \\ **Displacement/m** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Direct Travel Time/s** \\ **byplacement/m** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Energy Consumption** \\ **during Lane Changing** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Direct Energy Consumption** \\ **10/(N-m)** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Total Energy** \\ **Consumption 10/(N-m)** \\ \end{tabular} } \\ \cline{4-9}  & & & **90 Km/h** & **108 Km/h** & **Process 10/(N-m)** \\ \hline \multirow{2}{*}{\begin{tabular}{c} Vehicles without \\ surrounding \\ obstacles \\ \end{tabular} } & \begin{tabular}{c} Comfort demand \\ \end{tabular} & 143 & 0 & 0 & 4.231 & 0 & 0 & 4.231 & 4.231 \\ \cline{2-9}  & Efficiency demand & 77 & 2.64 & 2.2 & 2.287 & 1.592 & 2.293 & 3.879 & 4.580 \\ \cline{2-9}  & Economic demand & 79.75 & 2.53 & 2.11 & 2.367 & 1.526 & 2.199 & 3.893 & 4.566 \\ \hline \multirow{2}{*}{\
\begin{tabular}{c} Vehicles with \\ surrounding \\ obstacles \\ \end{tabular} } &
\begin{tabular}{c} Comfort demand \\ \end{tabular} & 88.25 & 0 & 0 & 2.529 & 0 & 0 & 2.529 & 2.529 \\ \cline{2-9}  & Efficiency demand & 77 & 0.33 & 0.275 & 2.287 & 0.199 & 0.287 & 2.486 & 2.574 \\ \cline{2-9}  & Economic demand & 68.75 & 0.66 & 0.55 & 2.044 & 0.398 & 0.573 & 2.442 & 2.617 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Overall energy consumption analysis during driving process. In general, vehicles with efficiency demand tend to complete the lane change task as soon as possible. Therefore, changing lanes first and then going straight is beneficial for them. They can fully utilize the speed after accelerating the lane change to complete their remaining tasks. Therefore, the energy consumption of vehicles with efficiency demand is more inclined towards the total energy consumption (108 Km/h) value in Table 3 above. For vehicles with economy demand, in order to reduce their energy consumption, they can choose to use low-speed straight ahead and then quickly change lanes. Its energy consumption is closer to the total energy consumption (90 Km/h) value in Table 3 above. Therefore, the economic demand of a vehicle can greatly reduce energy consumption. From the above table, it can be seen that when the vehicle is driven in a predetermined manner, the economic demand vehicle can reduce energy consumption by about 7.99% compared to the comfort demand vehicle without surrounding obstacles and reduce energy consumption by about 15.0% compared to the efficiency demand vehicle. In the presence of surrounding obstacles, the energy consumption of vehicles with comfort demand is reduced by about 3.4%, and the energy consumption of vehicles with efficiency demand is reduced by about 5.13%, demonstrating the effect of increasing economic indicators on the objective function. Therefore, the trajectory planned in this article has energy-saving characteristics.