Distributed Cooperative Driving Strategy for Connected Automated Vehicles at Unsignalized Intersections Based on Monte Carlo Method

Algorithm 2

Simulation policy with heuristic rules.

	Input: Operational data of all CAVs
	Output: A possible passing order
(1)	Choose the uncovered leading CAV of each lane as the candidate CAVs and calculate their arrival times to all conflict points on their desired trajectories.
(2)	Add the CAV whose arrival times to all conflict points (compared to other candidate CAVs) are least into the passing order. If not, randomly select one.
(3)	Repeat steps 1 and 2 until a complete passing order is generated.
(4)	The objective value (3) of the passing order can be derived by Algorithm 1.