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Currently, we are in an environment where the fraction of automated vehiclesis negligibly small. We anticipate that this fraction will increase in comingdecades before if ever, we have a fully automated transportation system.Motivated by this we address the problem of provable safety of mixed trafficconsisting of both intelligent vehicles (IVs) as well as human-driven vehicles(HVs). An important issue that arises is that such mixed systems may well havelesser throughput than all human traffic systems if the automated vehicles areexpected to remain provably safe with respect to human traffic. Thisnecessitates the consideration of strategies such as platooning of automatedvehicles in order to increase the throughput. In this paper, we address thedesign of provably safe systems consisting of a mix of automated andhuman-driven vehicles including the use of platooning by automated vehicles.  We design motion planing policies and coordination rules for participants inthis novel mixed system. HVs are considered as nearsighted and modeled withrelatively loose constraints, while IVs are considered as capable of followingmuch tighter constraints. HVs are expected to follow reasonable and simplerules. IVs are designed to move under a model predictive control (MPC) basedmotion plans and coordination protocols. Our contribution of this paper is inshowing how to integrate these two types of models safely into a mixed system.System safety is proved in single lane scenarios, as well as in multi-lanesituations allowing lane changes.

Towards Provably Safe Mixed Transportation Systems with Human-driven and Automated Vehicles