Cooperative Driving at Lane Closures

Cooperative driving via vehicle communication attracts increasing interests recently, since the motions of vehicles can be conducted in the safe and smooth manner. In this paper, cooperative driving at lane closures is studied. First, the solution space of all allowable driving schedules is described by a spanning tree in terms of vehicle safe passing order. The corresponding trajectory planning method is then proposed to generate the acceptable lane changing profiles. The proposed algorithm is fast and reliable, but sometimes yields conservative solutions than previous algorithms.