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This paper proposes a controller for safe lane change manoeuvres ofautonomous vehicles using high-order control barrier and Lyapunov functions.The inputs are calculated using a quadratic program (CLF-CBF-QP) which admitsshort calculation times. The controller allows for adaptive cruise control,lane following, lane switching and ensures collision avoidance at all times.The novelty of the controller is the decentralized approach to the coordinationof vehicles without switching of controllers. In particular, vehicles indicatetheir manoeuvres which influences their own safe region and that of neighboringvehicles. This is achieved by introducing so-called coordination functions inthe design of control barrier functions. In a relevant simulation example, thecontroller is validated and its effectiveness is demonstrated.

Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers