A Driver-Friendly Cooperative Control Method for Connected and Automated Vehicles at An Unsignalized Intersection

New technologies about connected and automated vehicles (CAVs) and the rapid development of wireless communication technologies promote research on unsignalized intersection coordination. Through vehicle-to-vehicle and vehicle-to-infrastructure communication, CAVs can cooperatively pass through the signal-free intersection safely and efficiently. But previous studies focus more on avoiding collisions and improving intersection throughput, ignoring the experience of drivers. In this paper, we consider from the driver’s point of view, and give priority to the following three evaluation indices: driving comfort, fuel economy and travel time, which are calculated quantificationally in the simulation part. In addition, to ensure safety and passing through synchronously, we divide the collision-free constraints into two parts: rear-end collision avoidance and lateral collision avoidance, which are satisfied by using this plain way. On this basis, we propose a new driver-friendly cooperative control method to handle the signal-free intersection coordination problem. Finally, we conduct comprehensive experiments, and the simulation results demonstrate the effect and the superiority of the proposed method.