Cooperative Merging Strategy Between Connected Autonomous Vehicles in Mixed Traffic

In this work we propose a new cooperation strategy between connected autonomous vehicles in on-ramps merging scenarios and implement the cut-in risk indicator (CRI) to investigate safety effect of proposed strategy. The considers pair approaching an on-ramp. then makes decisions on target speeds/accelerations both vehicles, possible lane changing, dynamic decision-making approach order reduce during manoeuvre. work, CRI was first used assess For purpose, with penetration rates from 20% 100%, step 10%, non-connected were evaluated. As result, average 35% reduction manoeuvres compared is obtained. It shown through analysis probability density functions characterising distribution that not homogeneous across all values, but depends rate severity