Distributed hybrid controls for automated vehicle lane changes

We present a methodology for designing safe and efficient lane change control laws for automated vehicles. Our aim is to obtain a coordinated decentralized control strategy so that individual vehicles can execute it with minimal coordination. We characterize the inter-vehicle coordination necessary to guarantee safety and efficiency. Our methodology can be used for designing both normal mode and emergency lane changes. The problem formulation makes use of game theory and optimal control ideas to guarantee safety and efficiency respectively