路段环境自动驾驶汽车通行权决策方法
曹宁博,赵利英

Decision-making method of autonomous vehicles for right of way on road segments
Ning-bo CAO,Li-ying ZHAO
图 4 每15 s生成1个行人时的车辆行驶时间
Fig.4 Travel time of vehicles when generating one pedestrian every 15 seconds