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The source code and documentation for the Connected, Longitudinally Automated Lane Change software (“Lane Change”) Version 1.2 has been released onto the OSADP and is now available for download. To download this application, you need to sign in as a registered user. To download the SmarTrAC software, please click here. If you do not have an account, you may submit an account registration request by completing the registration form.

“Lane Change” is prototype software for a three-vehicle lane change maneuver, in which vehicles use automated speed control, vehicle-to-vehicle (V2V) communications, and vehicle-based radar systems to facilitate a merge into a Cooperative Adaptive Cruise Control (CACC) platoon. The software provides control for the connected vehicles performing a lane merge maneuver using Dedicated Short Range Communication (DSRC) Vehicle-to-Vehicle (V2V) communications.  It also provides the driver-vehicle interface (DVI) that allows the driver of each vehicle to choose that vehicle's role in the lane change maneuver, to set the operating speed of the experiment (lead vehicle), and to display status of the lane change by way of status flags in received basic safety messages (BSMs).  The DVI software also handles data communication to/from the on-board unit (OBU) DSRC radio.

“Lane Change” requires two connected automated vehicles (CAVs) and one lead vehicle that could be a CAV or a manually driven vehicle. One CAV (the ‘following CAV’) follows the lead vehicle in a CACC platoon.  The second CAV (the ‘merging CAV’) approaches the platoon from an adjacent lane. The operator of the merging CAV activates the turn signal. This triggers the broadcast of a “merge request” message via DSRC. The following CAV then broadcasts a message via DSRC acknowledging the request of the merging CAV. The two CAVs automatically adjust their speeds to create a gap between the lead vehicle and the following CAV that merging CAV can enter. Both vehicles use vehicle-based radar systems to acquire and maintain the appropriate gap distances. Once the two CAVs determine that they have acquired safe gap distances, both vehicles broadcast messages via DSRC indicating that they are ready for the merge to take place. Then the operator of the merging CAV manually steers into the adjacent lane. The two CAVs broadcast messages via DSRC indicating that the merge is complete. The operator of the merging CAV then disengages the turn signal and the three vehicles operate as a CACC platoon. A human machine interface is used to select the vehicle role prior to the maneuver, and to display the transmission and receipt of the DSRC-based messages as they occur.

The application was developed as part of the Lane Change/Merge Foundational Research study sponsored by the Federal Highway Administration’s (FHWA) Turner Fairbank Highway Research Center. The software is designed for use on the FHWA Connected Automation Research for Modeling and Analysis (CARMA) vehicle fleet. The CARMA platform is also available for download on the OSADP.

“Lane Change” was built in two parts:

  • the control software is written in Simulink and runs on the vehicle's MicroAutobox II
  • the DVI software is written in Java and runs on the vehicle's secondary computer, which is an Ubuntu Linux PC.

For more information on this project, please visit: https://www.fhwa.dot.gov/research/tfhrc/projects/projectsdb/projectdetails.cfm?projectid=FHWA-PROJ-13-0099