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The goal is to design a control scheme that can be employed in scenarios where only vehicle-to-vehicle communication is available and where vehicles need to negotiate and agree on their positions on the road. To this end, after reaching an agreement on the lane speed with other traffic participants, each vehicle decides whether to keep cruising along the current lane or to move into another one. In the latter case, it negotiates the entry point with others by taking part in a distributed auction. An onboard controller computes an optimal trajectory transferring the vehicle with agreed velocity to the desired lane while avoiding collisions.<\/jats:p>","DOI":"10.1515\/auto-2019-0078","type":"journal-article","created":{"date-parts":[[2019,12,3]],"date-time":"2019-12-03T09:57:48Z","timestamp":1575367068000},"page":"1047-1057","source":"Crossref","is-referenced-by-count":3,"title":["Automating lane changes and collision avoidance on highways via distributed agreement"],"prefix":"10.1515","volume":"67","author":[{"given":"Fabio","family":"Molinari","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aaron","family":"Grapentin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexandros","family":"Charalampidis","sequence":"additional","affiliation":[{"name":"Institut d\u2019\u00c9lectronique et de Tel\u00e9comunications de Rennes - CentraleSup\u00e9lec, France & CentraleSup\u00e9lec, Automatic Control Group - IETR , Avenue de la Boulaie , Cesson-S\u00e9vign\u00e9 , France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00f6rg","family":"Raisch","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2019,11,30]]},"reference":[{"unstructured":"Karl Johan Astr\u00f6m and Richard M Murray, Feedback systems: an introduction for scientists and engineers, Princeton university press, 2010.","key":"2023033109482812672_j_auto-2019-0078_ref_001_w2aab3b7b4b1b6b1ab1b5b1Aa"},{"doi-asserted-by":"crossref","unstructured":"Lakshmi Dhevi Baskar, Bart De Schutter and Hans Hellendoorn, Traffic management for automated highway systems using model-based predictive control, IEEE Transactions on Intelligent Transportation Systems 13 (2012), 838\u2013847.10.1109\/TITS.2012.2186441","key":"2023033109482812672_j_auto-2019-0078_ref_002_w2aab3b7b4b1b6b1ab1b5b2Aa","DOI":"10.1109\/TITS.2012.2186441"},{"doi-asserted-by":"crossref","unstructured":"Lakshmi Dhevi Baskar, Bart De Schutter, J Hellendoorn and Zoltan Papp, Traffic control and intelligent vehicle highway systems: a survey, IET Intelligent Transport Systems 5 (2011), 38\u201352.10.1049\/iet-its.2009.0001","key":"2023033109482812672_j_auto-2019-0078_ref_003_w2aab3b7b4b1b6b1ab1b5b3Aa","DOI":"10.1049\/iet-its.2009.0001"},{"doi-asserted-by":"crossref","unstructured":"Han-Lim Choi, Luc Brunet and Jonathan P How, Consensus-based decentralized auctions for robust task allocation, IEEE transactions on robotics 25 (2009), 912\u2013926.10.1109\/TRO.2009.2022423","key":"2023033109482812672_j_auto-2019-0078_ref_004_w2aab3b7b4b1b6b1ab1b5b4Aa","DOI":"10.1109\/TRO.2009.2022423"},{"doi-asserted-by":"crossref","unstructured":"Alessandro De Luca, Giuseppe Oriolo and Claude Samson, Feedback control of a nonholonomic car-like robot, Robot motion planning and control 1998, Springer, pp.\u2009171\u2013253.","key":"2023033109482812672_j_auto-2019-0078_ref_005_w2aab3b7b4b1b6b1ab1b5b5Aa","DOI":"10.1007\/BFb0036073"},{"doi-asserted-by":"crossref","unstructured":"Antonella Ferrara and Claudio Vecchio, Controlling a platoon of vehicles via a second order sliding mode approach, IFAC Proceedings Volumes 39 (2006), 439\u2013444.10.3182\/20060829-3-NL-2908.00076","key":"2023033109482812672_j_auto-2019-0078_ref_006_w2aab3b7b4b1b6b1ab1b5b6Aa","DOI":"10.3182\/20060829-3-NL-2908.00076"},{"doi-asserted-by":"crossref","unstructured":"Roozbeh Kianfar, Paolo Falcone and Jonas Fredriksson, A receding horizon approach to string stable cooperative adaptive cruise control, in: 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), IEEE, pp.\u2009734\u2013739, 2011.","key":"2023033109482812672_j_auto-2019-0078_ref_007_w2aab3b7b4b1b6b1ab1b5b7Aa","DOI":"10.1109\/ITSC.2011.6083088"},{"doi-asserted-by":"crossref","unstructured":"Peng Liu, Umit Ozguner and Yeqing Zhang, Distributed MPC for cooperative highway driving and energy-economy validation via microscopic simulations, Transportation Research Part C: Emerging Technologies 77 (2017), 80\u201395.10.1016\/j.trc.2016.12.016","key":"2023033109482812672_j_auto-2019-0078_ref_008_w2aab3b7b4b1b6b1ab1b5b8Aa","DOI":"10.1016\/j.trc.2016.12.016"},{"doi-asserted-by":"crossref","unstructured":"Johan L\u00f6fberg, Oops! 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