Communication Fault-Tolerant Cooperative Driving at On-Ramps: A Global Planning and Local Gaming Strategy

Cooperative driving is emerging as an effective way to improve traffic efficiency and safety, and has attracted considerable research attention. However, a major drawback of most existing studies is that they rely on ideal communication conditions and overlook the critical issue of communication failures in vehicles. These failures have the potential to disrupt traffic efficiency and introduce serious safety risks. In this paper, we propose a fault-tolerant cooperative driving strategy that systematically addresses the challenges posed by communication failures within a global planning and local gaming framework. In the global planning stage, the centralized controller coordinates the passing order of all vehicles to optimize traffic efficiency. In the local gaming stage, the faulty vehicle engages in a two-player cooperative game to decide the order with potentially conflicting vehicles. Simulation results show that our strategy enhances the fault tolerance of the system, ensuring driving safety while mitigating the impact of faults on traffic efficiency. This work provides insights for building a more robust and safe cooperative driving system under real-world communication challenges.