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Platooning can serve as an effective management measure for connected andautonomous vehicles (CAVs) to ensure overall traffic efficiency. Current studyfocus on the longitudinal control of CAV platoons, however it still remains achallenging problem to stay safe under lane-change scenarios where bothlongitudinal and lateral control is required. In this paper, a safety-criticalcontrol method is proposed conduct lane-changing maneuvers for platooning CAVsusing Control Barrier Functions (CBFs). The proposed method is composed of twolayers: a higher-level controller for general lane change decision control anda lower-level controller for safe kinematics control. Different fromtraditional kinematics controllers, this lower-level controller conducts notonly longitudinal safety-critical control but also critically ensures safetyfor lateral control during the platooning lane change. To effectively designthis lower-level controller, an optimization problem is solved with constraintsdefined by both CBFs and Control Lyapunov Functions (CLFs). A traffic simulatoris used to conduct numerical traffic simulations in four safety-criticalscenarios and showed the effectiveness of the proposed controller.

Safety-Critical Lane-Change Control for CAV Platoons in Mixed Autonomy Traffic Using Control Barrier Functions