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

Table 1

Parameters.

Parameters	Definition	Value
	Radius of communication range	200 m
	Radius of intersection physical area	30 m
	Range of observation area	30 m
	Range of optimization area	50 m
	Range of execution area	90 m
	Width of lane	3.5 m
	Length of vehicle	5 m
	Minimum speed	0 m/s
	Maximum speed	12 m/s
	Turning speed	6 m/s
	Maximum acceleration	1.5 m/s^2
	Desired deceleration	3 m/s^2
	Initial arrival speed	10 m/s
	Desired speed	10 m/s
	Safe time headway	2 s
	Linear jam distance	5 m
	Arrival rate	0–2 veh/s
	Simulation step size	0.1 s