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In preparing for connected and autonomous vehicles (CAVs), a worrisome aspectis the transition era which will be characterized by mixed traffic (where CAVsand human-driven vehicles (HDVs) share the roadway). Consistent withexpectations that CAVs will improve road safety, on-road CAVs may adopt ratherconservative control policies, and this will likely cause HDVs to undulyexploit CAV conservativeness by driving in ways that imperil safety. A contextof this situation is lane-changing by the CAV. Without cooperation from othervehicles in the traffic stream, it can be extremely unsafe for the CAV tochange lanes under dense, high-speed traffic conditions. The cooperation ofneighboring vehicles is indispensable. To address this issue, this paperdevelops a control framework where connected HDVs and CAV can cooperate tofacilitate safe and efficient lane changing by the CAV. Throughout thelane-change process, the safety of not only the CAV but also of all neighboringvehicles, is ensured through a collision avoidance mechanism in the controlframework. The overall traffic flow efficiency is analyzed in terms of theambient level of CHDV-CAV cooperation. The analysis outcomes are including theCAVs lane-change feasibility, the overall duration of the lane change. Lanechange is a major source of traffic disturbance at multi-lane highways thatimpair their traffic flow efficiency. In providing a control framework for lanechange in mixed traffic, this study shows how CHDV-CAV cooperation could helpenhancing system efficiency.

A Cooperative Control Framework for CAV Lane Change in a Mixed Traffic Environment