# Facilitating Cooperative and Distributed Multi-Vehicle Lane Change Maneuvers

arXiv: https://arxiv.org/abs/2301.04316 · HTML: https://mlsanity.com/paper/2301.04316/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Jan 2023.

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

- [Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions](https://mlsanity.com/paper/2402.01116/) (2024)

## Abstract (arXiv)

A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only when the environment allows it. The novel approach of this paper relies on the role of a facilitator assigned to a CAV. The facilitator interacts with and modifies the environment to enable lane changes of other CAVs. Distributed MPC path planners and a distributed coordination algorithm are used to control the facilitator and other CAVs in a proactive and cooperative way. We demonstrate the effectiveness of the proposed approach through numerical simulations. In particular, we show enhanced feasibility of a multi-CAV lane change in comparison to the simultaneous multi-CAV lane change approach in various traffic conditions generated by using a data-set from real-traffic scenarios.