Cooperative driving model for non-signalized intersections based on reduplicate dynamic game

On consideration of analyzing the relation between drivers' decisions when the vehicle-cross process happens in a non-signalized intersection, a cooperative driving model is proposed based on reduplicate dynamic game. Considering some driving characteristics in our daily life, a profit function is established with safety, rapidity and comfort indicators in vehicle-cross process. Then, the multiple Nash Equilibria problem for reduplicate dynamic game is analyzed, and the standard genetic algorithm method is adopted to obtain an optimal solution. Finally, this model is verified by simulation. Results demonstrate the effectiveness of this model.