Collision Avoidance Strategy for Multivehicle Conflict on Common Rail

Table 3

Comparison of local multivehicle collision avoidance algorithm results in period.

Multicars	Improved algorithm			Banker’s algorithm			Modified banker-time window with priority transfer
	Total distance (m)	Waiting time (s)	Collisions	Total distance (m)	Waiting time (s)	Collisions	Total distance (m)	Waiting time (s)	Collisions
MC1	95	30	1	90	35	0	90	45	0
MC2	120	25	2	110	25	0	80	30	0
MC3	200	25	1	180	30	0	155	35	0
MC4	85	30	1	80	25	0	75	25	0
MC5	150	22	1	135	25	0	125	25	0
MC6	105	35	1	95	25	0	90	20	0
MC7	90	30	1	85	35	0	85	30	0
MC8	180	30	1	160	30	0	140	35	0
Total	1025	227	9	935	230	0	840	245	0