The objective of the study is to address the problem of cooperative lane change maneuvers where vehicles communicate with each other and negotiate the creation of safe spacings in order to merge without taking any safety risks. The study also includes platoons of vehicles, by developing the communication protocol to be followed with three lane changing strategies (Synchronous, Leader First and Last Vehicle First), which affects the gap generation and lane changing behavior for the vehicles. Measurement verification steps were developed to identify sensor or communication failures. Extensive simulations are used to demonstrate and evaluate the approach and assess the traffic and environmental impact under different traffic conditions.
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