Overtaking Feasibility Prediction for Mixed Connected and Connectionless Vehicles

Intelligent transportation systems (ITS) utilize advanced technologies to enhance traffic safety and efficiency, contributing significantly to modern transportation. The integration of Vehicle-to-Everything (V2X) further elevates road safety and fosters the progress of ITS through enabling direct vehicle communication and interaction with infrastructure. However, the penetration rate of V2X vehicles is advancing gradually. Consequently, there will be mixed scenarios on the road, involving both on-board units (OBUs)-equipped and non-equipped vehicles. This results in disparities in communication capabilities, highlighting the need to ensure the efficient and safe operation of vehicles in such mixed scenarios. This paper addresses this challenge by presenting a feasibility analysis and prediction method for lane-changing overtaking maneuvers in mixed scenarios, specifically for vehicles equipped with OBUs. This method assists vehicles in completing overtaking maneuvers by offering a non-binary lane-changing overtaking feasibility index along with corresponding speed guidance. First, vehicle sensors are used to sense the state of surrounding vehicles, addressing any missing sensor data due to occlusions. Moreover, the future driving behavior of the vehicle is taken into account to more accurately predict the future state of the vehicle. Then, a deep reinforcement learning algorithm is deployed to process the hybrid action space to train a lane-changing overtaking model, which also takes into account the influence of the flow of each lane in front of the vehicle, and finally predicts the feasibility of the vehicle performing lane-changing overtaking. Experimental results demonstrate that our method can accurately predict the vehicle’s future state and effectively assist the vehicle in completing lane-changing overtaking maneuvers. This research provides strong support for the integration of ITS and V2X technologies.