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It is widely acknowledged that verifying the safety of autonomous drivingstrategies requires a substantial body of simulation testing and road testing.In recent years, the formal safety methods represented byResponsibility-Sensitive Safety (RSS) have encouraged low-cost autonomousdriving safety research, benefitting from its accurate assessment of safety andclear division of responsibilities. However, how to maintain traffic efficiencywhile ensuring safety remains a challenge. To address this problem, this paperproposes a formulized negotiation-based lane-changing strategy that makes atrade-off between safety and efficiency. Both theoretical analysis andnumerical experimental results shows that compared to RSS, our strategy cannoticeably improve the success rate of changing lanes on the premise of safety.

A Negotiation-based Right-of-way Assignment Strategy to Ensure Traffic Safety and Efficiency in Lane Change