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Non-signalized intersection is a typical and common scenario for connectedand automated vehicles (CAVs). How to balance safety and efficiency remainsdifficult for researchers. To improve the original Responsibility SensitiveSafety (RSS) driving strategy on the non-signalized intersection, we propose anew strategy in this paper, based on right-of-way assignment (RWA). Theperformances of RSS strategy, cooperative driving strategy, and RWA basedstrategy are tested and compared. Testing results indicate that our strategyyields better traffic efficiency than RSS strategy, but not satisfying as thecooperative driving strategy due to the limited range of communication and thelack of long-term planning. However, our new strategy requires much fewercommunication costs among vehicles.

A Right-of-Way Based Strategy to Implement Safe and Efficient Driving at Non-Signalized Intersections for Automated Vehicles