2024/05/27 by Anni Li, Li, Anni, Christos G. Cassandras +1
Engineering · Psychology · #Autonomous Vehicle Technology and Safety #FOS: Electrical engineering #Human-Automation Interaction and Safety #Systems and Control (eess.SY) #Vehicular Ad Hoc Networks (VANETs) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2405.17594
openalex publication_date 2024/05/27 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.