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Safe Merging in Mixed Traffic with Confidence (2403.05742v1)

Published 9 Mar 2024 in eess.SY, cs.RO, and cs.SY

Abstract: In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with human-driven vehicles (HDVs). We employ conformal prediction to obtain theoretical safety guarantees and use real-world traffic data to validate our approach. Then, we design a controller that ensures effective merging of CAVs with HDVs with safety guarantees. We provide numerical simulations to illustrate the efficacy of the control approach.

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