A lane-change maneuver on a congested highway could be severely disruptive or even infeasible without the cooperation of neighboring cars. However, cooperation with other vehicles does not guarantee that the performed maneuver will not have a negative impact on traffic flow unless it is explicitly considered in the cooperative controller design. In this letter, we present a socially compliant framework for cooperative lane-change maneuvers for an arbitrary number of CAVs on highways that aims to interrupt traffic flow as minimally as possible. Moreover, we explicitly impose feasibility constraints in the optimization formulation by using reachability set theory, leading to a unified design that removes the need for an iterative procedure used in prior work. We quantitatively evaluate the effectiveness of our framework and compare it against previously offered approaches in terms of maneuver time and incurred throughput disruption.

翻译：在拥堵高速公路上，若缺乏邻近车辆的协同配合，换道操作可能导致严重的交通流中断甚至不可行。然而，即便实现车辆协同，若未在协同控制器设计中明确考虑交通流影响，仍无法保证所执行操作不会对交通流产生负面效应。本文提出一种面向高速公路任意数量网联自动驾驶车辆（CAVs）的社会兼容性协同换道框架，旨在最大程度降低对交通流的干扰。此外，我们通过可达集理论在优化模型中显式施加可行性约束，形成统一化设计方案，消除了现有研究所需迭代流程的依赖。最后，从换道耗时与引发的通行能力中断两个维度，定量评估本框架有效性，并与既有方法进行对比分析。