Research Article
Distributed Cooperative Driving Strategy for Connected Automated Vehicles at Unsignalized Intersections Based on Monte Carlo Method
Algorithm 1
Passing order to trajectory interpretation.
| Input: A passing order | | Output: The total acceleration adjustments of the covered CAVs and their required acceleration adjustments , respectively | (1) | Initialize as 0 | (2) | for each [1, length ()] do | (3) | = actual_time () − min_time () [35] | (4) | adjustment_required = Requirement () | (5) | The Requirement function determines whether needs to make the acceleration adjustment | (6) | while adjustment_required do | (7) | = acc_calculate () | (8) | for each [, length ()] do | (9) | if = = then | (10) | + = | (11) | end if | (12) | end for | (13) | adjustment_required = Requirement () | (14) | end while | (15) | end for | (16) | , , | (17) | |
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