Paper ID: 2403.05742

Safe Merging in Mixed Traffic with Confidence

Heeseung Bang, Aditya Dave, Andreas A. Malikopoulos

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.

Submitted: Mar 9, 2024