Abstract
Vehicles that are becoming more highly automated are revolutionizing the world's transportation systems for their promise of increased safety and efficiency. The advantage of vehicles incorporating automation is that they do not suffer from the same limitations as human drivers, such as being distracted or impaired. In order to realize the potential of these vehicles, which operate in highly dynamic environments, online techniques are needed. This paper presents such an algorithm to minimize the disruption of traffic flow by optimizing for the number of safe lane changes, thereby increasing throughput and reducing congestion. The proposed algorithm is distributed in nature and makes use of vehicle-to-vehicle and/or vehicle-to-infrastructure communication technologies to judiciously make local lane-change decisions while guaranteeing that no collisions will occur. In contrast to existing work, the proposed technique requires no assumption on the number of lanes, nor on the dynamic attributes of the vehicles such as velocity and acceleration. Simulation results show that the proposed algorithm is both efficient and effective in maximizing the number of lane changes on a given stretch of a highway.
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