Cooperative Lane Changing in Mixed Traffic can be Robust to Human Driver Behavior

Understand

We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic.

• The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best possible response of a CAV to actions by its neighboring HDVs.
• This interaction is formulated using a bilevel optimization setting with an appropriate behavioral model for an HDV's.
• Then, an iterated best response (IBR) method is used to determine a Nash equilibrium.