In the vicinity of signalized intersections, the uncertainty cut-in behavior of human-driving vehicles(HVs) will affect the driving efficiency and safety of connected and automated vehicles(CAVs). To reduce the effect of uncertain HVs behavior on CAVs, this paper designed the right-of-way allocation strategy and control method of the CAVs in this situation. First, game theory is adopted to determine the right-of-way allocation between CAVs and HVs. Then, due to the uncertainty of the HV, the HV may not obey the right-of-way allocation result, the emergency avoidance controller is designed. Finally, the switching stability between the normal state controller and the aggressive cut-in state controller is proved under transportation cyber physical system perspective. The experimental results demonstrate the effectiveness of the above designed method.
Connected Autonomous Vehicle Control Considering Human Driving Uncertainty Cut-In Behavior: Cyber-physical Perspective
2022-10-08
545555 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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