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In general, there are two kinds of cooperative driving strategies, planningbased strategy and ad hoc negotiation based strategy, for connected andautomated vehicles (CAVs) merging problems. The planning based strategy aims tofind the global optimal passing order, but it is time-consuming when the numberof considered vehicles is large. In contrast, the ad hoc negotiation basedstrategy runs fast, but it always finds a local optimal solution. In thispaper, we propose a grouping based cooperative driving strategy to make a goodtradeoff between time consumption and coordination performance. The key idea isto fix the passing orders for some vehicles whose inter-vehicle headways aresmall enough (e.g., smaller than the pre-selected grouping threshold). From theviewpoint of optimization, this method reduces the size of the solution space.A brief analysis shows that the sub-optimal passing order found by the groupingbased strategy has a high probability to be close to the global optimal passingorder, if the grouping threshold is appropriately chosen. A series ofsimulation experiments are carried out to validate that the proposed strategycan yield a satisfied coordination performance with less time consumption andis promising to be used in practice.

A Grouping Based Cooperative Driving Strategy for CAVs Merging Problems