Review of Lane‑Changing Maneuvers of Connected and Automated Vehicles: Models, Algorithms and Traffic Impact Analyses

Abstract

Connected and automated vehicle (CAV) technologies have
been developed to improve traffic safety, mobility, and environmental
impacts throughout the years. One of the enabling CAV technologies
is the lane-changing function, which has attracted much attention
from both industry and academia in recent years. This paper provides
an overview of representative studies on CAV lane-changing models,
algorithms, traffic impact analyses as well as testing experiments. Several
crucial concepts, such as vehicle-to-vehicle (V2V) communication,
lane-changing decision and planning, and vehicle control algorithms are
focus of this review. Overall, despite existing successful studies on CAV
lane changing, research gaps between state-of-the-art technologies and
real-world CAV applications are identified in the hope of facilitating future
research in this direction.