Modeling Autonomous Vehicles’ Altruistic Behavior to Human-Driven Vehicles in the Car following Events and Impact Analysis

<div>Redefined car following event in RL environment. <svg height="12.584pt" id="M39" style="vertical-align:-3.29567pt" version="1.1" viewbox="-0.0498162 -9.28833 15.4772 12.584" width="15.4772pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M499 88L487 113C459 86 422 65 413 65C403 65 403 74 409 98L461 318C487 426 460 448 431 448C408 448 383 441 352 424C305 398 223 344 157 257H155L243 674C249 702 249 712 240 712C227 712 170 680 87 673L82 648H117C155 648 162 644 150 590L23 -4L30 -12C55 -4 81 3 105 8C113 53 131 150 143 187C199 281 323 387 372 387C390 387 393 369 380 311L328 86C313 19 319 -12 347 -12C379 -12 442 24 499 88Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.643,3.132)"><path d="M262 451C169 451 38 375 38 210C38 98 121 -12 261 -12C360 -12 481 64 481 227C481 351 386 451 262 451ZM249 414C337 414 385 320 385 204C385 70 333 25 272 25C189 25 134 117 134 241C134 355 189 414 249 414Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.256,3.132)"><path d="M56 439L27 407L32 396H103V106C103 41 96 35 31 30V0H271V29C191 37 184 40 184 110V396H293C304 404 309 428 303 439H184V473C183 558 195 604 207 623S234 653 261 653C293 653 322 635 341 616C350 607 360 606 370 614C381 622 386 631 389 638C394 652 393 664 384 675C366 696 339 708 303 710C263 705 225 686 190 655C137 608 121 561 114 538S103 487 103 456V439H56Z"></path></g></svg> denotes bump-to-bump distance of following vehicle and objective vehicle. <svg height="14.1238pt" id="M40" style="vertical-align:-5.487901pt" version="1.1" viewbox="-0.0498162 -8.6359 43.9272 14.1238" width="43.9272pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M697 650H468L461 623L492 619C539 613 547 605 518 546C481 471 367 264 278 116H276C239 278 197 500 186 567C180 604 185 613 226 619L252 623L260 650H24L17 623C78 617 92 613 108 533L216 -11H247C365 200 515 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transform="matrix(.0091,0,0,-0.0091,17.891,3.132)"><path d="M244 0V30C178 35 170 41 170 107V710C136 697 72 680 18 675V647C83 642 89 639 89 572V107C89 43 80 35 16 30V0H244Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,20.257,3.132)"><path d="M262 451C169 451 38 375 38 210C38 98 121 -12 261 -12C360 -12 481 64 481 227C481 351 386 451 262 451ZM249 414C337 414 385 320 385 204C385 70 333 25 272 25C189 25 134 117 134 241C134 355 189 414 249 414Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,24.815,3.132)"><path d="M708 439H523V409C587 401 594 395 581 344C562 272 534 184 513 118H511C468 225 428 330 391 434H361C318 317 283 217 244 121H242C218 196 193 273 170 349C157 394 160 401 220 409V439H10V409C60 403 67 394 86 343C127 224 165 109 201 -10H233C273 101 314 199 353 299C393 195 432 99 475 -10H507C554 126 596 251 627 334C648 390 657 401 708 409V439Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,31.295,3.132)"><path d="M138 535C169 535 191 560 191 589C191 620 168 644 139 644S85 620 85 589C85 560 110 535 138 535ZM257 0V30C192 35 185 43 185 109V453C142 435 94 422 40 414V386C101 378 104 372 104 311V109C104 41 97 35 33 30V0H257Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,33.797,3.132)"><path d="M532 0V30C473 38 467 38 467 107V298C467 395 416 451 336 451C307 451 279 439 251 420C226 404 205 389 185 374V453C142 434 94 422 43 413V386C98 378 104 373 104 309V107C104 41 100 38 31 30V0H251V30C191 35 185 40 185 107V337C216 364 255 389 295 389C360 389 386 347 386 276V110C386 44 380 35 321 30V0H532Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,38.811,3.132)"><path d="M472 439C432 432 382 428 334 425C303 442 271 451 236 451H235C158 451 54 398 54 285C54 216 97 171 140 152C124 133 93 105 53 90C52 81 55 63 64 48C77 27 102 5 137 -6C115 -22 77 -53 57 -73C40 -88 32 -107 32 -130C32 -189 96 -253 208 -253C340 -253 461 -159 461 -56C461 44 378 63 314 63C281 63 246 62 207 62C163 62 145 80 145 99C145 114 160 130 175 141C191 138 210 136 226 136C314 136 405 188 405 294C405 329 393 359 376 382L433 378C448 387 469 415 477 430L472 439ZM226 417C282 417 320 364 320 288S281 172 236 171C180 171 142 224 142 300S182 417 226 417ZM248 -9C291 -9 319 -11 346 -22S390 -57 390 -90C390 -151 339 -199 246 -199C171 -199 114 -159 114 -106C114 -79 132 -53 159 -30C178 -15 200 -9 248 -9Z"></path></g></svg> denotes velocity of following vehicle.</div>

Journal of Advanced Transportation

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Figure 2

Figure 2: Modeling Autonomous Vehicles’ Altruistic Behavior to Human-Driven Vehicles in the Car following Events and Impact Analysis 