Abstract

This paper compares two trajectory-planning controllers for connected vehicles based on non-cooperative and cooperative control algorithms. A driver-vehicle model with consideration of driver's characteristics is employed to build the system model of vehicle-to-vehicle (V2V) encountering. The trajectories of the encountering vehicles are planned with non-cooperative and cooperative control algorithms. Formulations of these two algorithms are compared. Simulations on these two trajectory-planning algorithms are conducted under a practical overtaking condition. Simulation results indicate that both of the proposed algorithms can accomplish the trajectory-planning task, with the cooperative algorithm showing more collaborative tendency than the non-cooperative algorithm.

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