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Priority-based coordination of autonomous and legacy vehicles at intersection

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Published on May 26, 2014

red vehicle: legacy vehicle
white vehicle: automated vehicles

red vehicle is driven by human, imperfections exists. We can observe in the video that red vehicle may occasionally decelerate while it can accelerate.

White vehicle is assumed to be perfect.

Red vehicle is not controlled by algorithm. It does not know the priority of itself. One hypothesis we make on red vehicle is that it can do car following (without crashing on the front car). Another hypothesis is that we have a traffic light in front of the intersection to tell if the red vehicle can go or not. Once red vehicle is allowed to go, it goes into intersection without knowing anything.

While vehicle knows priority and will respect priority.

The technique to allow mixed traffic flow has two folds:

1. red vehicle is allowed to enter the intersection if it is in a "virtual platoon" leaded by an automated vehicle. So that automated vehicle will regulate red vehicle (according to car following assumption).

2. red vehicle will be allowed to enter if all vehicles that have higher priority have passed collision region. (all vehicles with lower priorities will wait for the legacy vehicle to pass)

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