Selection-sort-based cooperative driving strategy for CAVs at non-signalized intersections

Cooperative driving has recently been proposed to increase the efficiency and safety at intersections. The major challenge of multi-vehicle cooperative driving is to improve traffic performance and meanwhile guarantee instantaneous optimization response. This paper proposes a selection-sort-based cooperative driving strategy at non-signalized intersection in the environment of connected and automated vehicles (CAVs), which is made up of passing order adjustment and vehicle trajectory planning. In order to assign a better passing order to approaching vehicles and reduce the complexity of cooperative driving, a passing order adjustment algorithm is designed. The effectiveness of the algorithm is analyzed theoretically. According to the passing order, the movement rules are constructed to help vehicles pass through the intersections safely. Numerical simulations verify the effectiveness of the proposed strategy under different traffic scenarios. Compared with the periodic traffic signal and first-in-first-out strategy, the results show that the proposed strategy can significantly improve traffic efficiency with less computation time.