Cyber-Physical System Lab, Department of Computer Science and Information Engineering1. Reduced 90% computing time compared to the original mixed-integer linear programming algorithm.2. Publication: “Efficient Mandatory Lane Changing of Connected and Autonomous Vehicles,” 2021 IEEE 94th Vehicular Technology Conference (VTC2021-Fall), 2021, pp. 1-7, doi: 10.1109/VTC2021-Fall52928.2021.9625514.3. Simulated lane-changing and roundabout scenarios with Simulation of Urban MObility (SUMO), an open-source traffic simulation package.4. Achieved 50% less delay for vehicles than the default lane-changing mode in SUMO.