A Framework for Lane-Change Maneuvers of Connected Autonomous Vehicles in a Mixed-Traffic Environment

In the transition era towards connected autonomous vehicles (CAVs), sharing of roadway by CAVs and human-driven (HDVs) in a mixed-traffic stream is expected to pose safety flow efficiency concerns even though may tend adopt rather conservative maneuvering policies. Unfortunately, this will likely cause HDV drivers unduly exploit such conservativeness driving ways that imperil safety. A context situation lane-changing CAV, potential major source traffic disturbance at multi-lane highways could impair their efficiency. dense, high-speed conditions, it be extremely unsafe for CAV change lanes without cooperation from neighboring stream. To help address issue, paper developed framework through which HDVs (CHDVs) cooperate facilitate safe efficient CAV. numerical experiment was carried out demonstrate efficacy framework. The results indicated CAVs’ feasibility overall duration if carries maneuver. It observed throughout process, not only but also all vehicles, promoted framework’s collision avoidance mechanism. analyzed terms ambient level CHDV–CAV cooperation. Overall, study present evidence how can enhance system