A Shared-Road-Rights Driving Strategy Based on Resolution Guidance for Right-of-Way Conflicts

Abstract

In addressing the critical issue of right-of-way conflicts in mixed-traffic environments, this paper introduces a novel shared right-of-way driving strategy that encompasses two guiding frameworks for resolution. The first framework applies to active lane changing. Before lane changing occurs, this framework allocates the right of way for autonomous vehicles (AVs). Based on the allocated right of way, the AVs decide whether to send a request for a shared right of way to relevant vehicles. To enhance lane-changing comfort, the vehicle assesses whether the variance of roll and lateral acceleration exceeds a preset threshold, ultimately deciding whether to proceed with the lane change. The second framework pertains to passive lane changing. After detecting an obstacle, this framework allocates the right of way. The AVs calculate acceleration based on their speed and distance from the obstacle, using this information to determine whether to change lanes or decelerate in order to avoid the obstacle. If lane changing is chosen, further evaluation is necessary. Based on the allocated right of way, the AVs decide whether to request a shared right of way from relevant vehicles. To improve lane-changing comfort, the AVs compare the variance of roll and lateral acceleration with that of pitch and longitudinal acceleration, and then they decide whether to proceed with the lane change. The proposed strategy has been validated in various scenarios, including high-speed (105 km/h), low speed (13 km/h), and general scenarios with AVs and obstacles at a distance of 125 m. The results show that the strategy effectively functions in both high-speed and low-speed scenarios.