Combines IDM (Intelligent Driver Model) for longitudinal control with traffic-aware lane changing that considers both route continuation and current traffic occupation levels for better cooperative driving.
- **Conservative Entry Behavior**: New vehicles wait briefly before changing lanes
- **Target Lane Stability**: Vehicles stay in target lane once reached with strong preference
- **Progressive Lane Changes**: Multi-lane changes done step-by-step with verification
- **Active Gap Creation**: Vehicles accelerate/decelerate to create lane change opportunities
- **Swap Deadlock Detection**: Identify vehicles wanting to swap lanes and coordinate resolution
- **Safe Swap Coordination**: Create sufficient offset BEFORE allowing lane changes
- **Flexible Platoon Formation**: Vehicles with same target form platoons bidirectionally
- **Bidirectional Platoon**: Leader can be ahead OR behind, coordination adapts accordingly
- **Vehicle-Specific Lengths**: Use actual vehicle lengths for accurate gap calculations
- **Dynamic Platoon Offset**: Use vehicle lengths plus buffer for safe platoon merging
- **Relaxed Gap for Safe Speed**: If follower is slower/equal, only vehicle length gap needed
- **Speed-Based Swap Resolution**: Faster vehicle accelerates, slower decelerates to create offset
- **Smart Urgency**: Urgency starts early but increases gradually to enable proactive changes
- **Swap Commit Only When Safe**: Both vehicles must have safe gaps before either changes lanes