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arXiv · 2301.04316

Facilitating Cooperative and Distributed Multi-Vehicle Lane Change Maneuvers

Hansung Kim·Francesco Borrelli
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Abstract

A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only when the environment allows it. The novel approach of this paper relies on the role of a facilitator assigned to a CAV. The facilitator interacts with and modifies the environment to enable lane changes of other CAVs. Distributed MPC path planners and a distributed coordination algorithm are used to control the facilitator and other CAVs in a proactive and cooperative way. We demonstrate the effectiveness of the proposed approach through numerical simulations. In particular, we show enhanced feasibility of a multi-CAV lane change in comparison to the simultaneous multi-CAV lane change approach in various traffic conditions generated by using a data-set from real-traffic scenarios.

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Hansung Kim, Francesco Borrelli. 2023-01-11. Facilitating Cooperative and Distributed Multi-Vehicle Lane Change Maneuvers. https://doi.org/10.1016/j.ifacol.2023.10.463

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