Game-theory based truck platoon avoidance modes selection near the highway off-ramp in mixed traffic environment

Introduction: The rise of autonomous vehicles has brought about a transformative shift in transportation, witnessing the coexistence of human-driven and autonomous vehicles on highways in the United States, Europe, and China. This coexistence poses challenges to traffic operations, particularly in intricate scenarios like highway ramps. The interaction between autonomous truck platoons, displaying heightened maneuverability, and human-driven vehicles has emerged as a critical concern. Consequently, this research aims to propose and investigate three avoidance modes (overall, gap and cross) employed by truck platoons, evaluating their comprehensive impact on human-driven vehicles. Methods: Multiple scenarios are simulated utilizing the Simulation of Urban Mobility (SUMO) software, collecting data on three distinctive avoidance modes concerning Travel Time (TT) and Time to Collision (TTC). Employing principles of game theory, a comprehensive assessment is undertaken to evaluate the traffic efficiency and safety of each mode. Comparative analyses against a no-avoidance baseline are conducted, offering a holistic evaluation of each mode’s applicability across diverse scenarios. Results: The findings highlight the commendable performance of gap mode and overall mode in enhancing traffic efficiency, while cross mode excels in fortifying traffic safety. Overall, the gap mode emerges as the optimal choice among the three. Discussion: This study introduces a game-theoretic approach to managing human-machine mixed traffic flow, establishing a foundational framework for theoretical research in decision-making for emerging mixed traffic environments. It considers safety and efficiency perspectives across different types of traffic entities. The insights gained contribute to the evolving discourse on the integration of autonomous vehicles into existing traffic systems, addressing the intricate challenges posed by the coexistence of various vehicle types on highways.