Decentralized Cooperative Lane-Changing Decision-Making for Connected Autonomous Vehicles Nie, Jianqiang ; Zhang, Jian ; Ding, Wanting ; Wan, Xia ; Chen, Xiaoxuan ; Ran, Bin Abstract Publication: IEEE Access Pub Date: 2016 DOI: 10.1109/ACCESS.2017.2649567 Bibcode: 2016IEEEA...4.9413N