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arXiv · 2405.17594

Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic

Anni Li·Christos G. Cassandras
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Abstract

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.

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BibTeXRIS

Anni Li, Christos G. Cassandras. 2024-05-27. Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic. https://arxiv.org/abs/2405.17594

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