Distributed Cooperative Driving Strategy for Connected Automated Vehicles at Unsignalized Intersections Based on Monte Carlo Method

Figure 11

Average cross-section speed of the two MCTS-based cooperative driving strategies under different arrival rates. (a) Arrival rate = 0.5 veh/s. (b) Arrival rate = 1.0 veh/s. (c) Arrival rate = 1.5 veh/s. (d) Arrival rate = 2.0 veh/s.

(a)

(b)

(c)

(d)