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)