  A lane-change maneuver on a congested highway could be severely disruptive or
even infeasible without the cooperation of neighboring cars. However,
cooperation with other vehicles does not guarantee that the performed maneuver
will not have a negative impact on traffic flow unless it is explicitly
considered in the cooperative controller design. In this letter, we present a
socially compliant framework for cooperative lane-change maneuvers for an
arbitrary number of CAVs on highways that aims to interrupt traffic flow as
minimally as possible. Moreover, we explicitly impose feasibility constraints
in the optimization formulation by using reachability set theory, leading to a
unified design that removes the need for an iterative procedure used in prior
work. We quantitatively evaluate the effectiveness of our framework and compare
it against previously offered approaches in terms of maneuver time and incurred
throughput disruption.
