Review of Lane-Changing Maneuvers of Connected and Automated Vehicles: Models, Algorithms and Traffic Impact Analyses

Connected and automated vehicle (CAV) technologies have been developed to improve traffic safety, mobility, and environmental impacts throughout the years. One of the enabling CAV technologies is the lane-changing function, which has attracted much attention from both industry and academia in recent years. This paper provides an overview of representative studies on CAV lane-changing models, algorithms, traffic impact analyses as well as testing experiments. Several crucial concepts, such as vehicle-to-vehicle (V2V) communication, lane-changing decision and planning, and vehicle control algorithms are focus of this review. Overall, despite existing successful studies on CAV lane changing, research gaps between state-of-the-art technologies and real-world CAV applications are identified in the hope of facilitating future research in this direction.