Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866914814206410752 |
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| author | Li, Anni Cassandras, Christos G. |
| author_facet | Li, Anni Cassandras, Christos G. |
| contents | We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to incentivize HDVs to align their behavior with socially optimal objectives using a ``refundable toll'' scheme so as to achieve a desired compliance probability for all non-compliant HDVs through a feedback control mechanism combining global with local (individual) components. We apply this scheme to the lane-changing problem, where a ``Social Planner'' provides references to the HDVs, measures their state errors, and induces cooperation compliance for safe lane-changing through a refundable toll approach. Simulation results are included to show the effectiveness of our cooperation compliance controller in terms of improved compliance and lane-changing maneuver safety and efficiency when non-cooperative HDVs are present. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_17594 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic Li, Anni Cassandras, Christos G. Systems and Control We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to incentivize HDVs to align their behavior with socially optimal objectives using a ``refundable toll'' scheme so as to achieve a desired compliance probability for all non-compliant HDVs through a feedback control mechanism combining global with local (individual) components. We apply this scheme to the lane-changing problem, where a ``Social Planner'' provides references to the HDVs, measures their state errors, and induces cooperation compliance for safe lane-changing through a refundable toll approach. Simulation results are included to show the effectiveness of our cooperation compliance controller in terms of improved compliance and lane-changing maneuver safety and efficiency when non-cooperative HDVs are present. |
| title | Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2405.17594 |