Abstract
This paper extends the framework for conflict resolution to multiple vehicles with different automation levels, while considering time delays in vehicle dynamics and in vehicle-to-everything (V2X) communication. Using reachability analysis, we interpret the V2X-based vehicle status information to enable real-time decision making and control of a connected automated vehicle interacting with multiple connected vehicles. We reveal the effects of time delays in such mixed-autonomy environment, and demonstrate the effectiveness of the proposed conflict resolution strategies using simulations with real highway traffic data.
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