# Time and Energy-Optimal Lane Change Maneuvers for Cooperating Connected Automated Vehicles

## TL;DR

This paper develops optimal control strategies for cooperative connected automated vehicles to perform lane changes efficiently, minimizing time and energy while ensuring safety, with proven properties and simulation validation.

## Contribution

It introduces analytical optimal control policies for cooperative lane changes that optimize time and energy, with proven structural properties and safety guarantees.

## Key findings

- Significant reduction in maneuver time and energy consumption.
- Proven structural properties simplify optimal control derivations.
- Simulation results outperform human-driven vehicle maneuvers.

## Abstract

We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy consumption of all cooperating vehicles in this maneuver. We prove structural properties of the optimal policies which simplify the solution derivations and lead to analytical optimal control expressions. The solutions, when they exist, are guaranteed to satisfy safety constraints for all vehicles involved in the maneuver. Simulation results show the effectiveness of the proposed solution and significant performance improvements compared to maneuvers performed by human-driven vehicles.