  This paper proposes a controller for safe lane change manoeuvres of
autonomous vehicles using high-order control barrier and Lyapunov functions.
The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits
short calculation times. The controller allows for adaptive cruise control,
lane following, lane switching and ensures collision avoidance at all times.
The novelty of the controller is the decentralized approach to the coordination
of vehicles without switching of controllers. In particular, vehicles indicate
their manoeuvres which influences their own safe region and that of neighboring
vehicles. This is achieved by introducing so-called coordination functions in
the design of control barrier functions. In a relevant simulation example, the
controller is validated and its effectiveness is demonstrated.
