# Cooperation Method of Connected and Automated Vehicles at Unsignalized Intersections: Lane Changing and Arrival Scheduling

arXiv: https://arxiv.org/abs/2109.14175 · HTML: https://mlsanity.com/paper/2109.14175/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Sep 2021.

## Built on by (most cited first, 1 of 1)

- [Autonomous Vehicle Decision-Making Framework for Considering Malicious Behavior at Unsignalized Intersections](https://mlsanity.com/paper/2409.17162/) (2024)

## Abstract (arXiv)

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which is impractical for real-life implementation. This paper proposes a two-stage cooperation framework, which decouples the longitudinal and lateral control of CAVs, allowing them to change to their preferred lanes. Based on formation control, an iterative framework is initially proposed to solve the target assignment and path planning problem for multiple CAVs on multiple lanes. A graph-based minimum clique cover method is then applied to obtain the optimal scheduling plan for the CAVs. Extensive numerical simulations for different numbers of vehicles and traffic volumes validate the effectiveness of the proposed algorithm.