Abstract
Nowadays, with the advancement of technology, world is trending toward high mobility and dynamics. In this context, intersection management (IM) as one of the most crucial elements of the transportation sector demands high attention. Today, road entities including infrastructures, vulnerable road users (VRUs) such as motorcycles, moped, scooters, pedestrians, bicycles, and other types of vehicles such as trucks, buses, cars, emergency vehicles, and railway vehicles like trains or trams are able to communicate cooperatively using vehicle-to-everything (V2X) communications and provide traffic safety, efficiency, infotainment and ecological improvements. In this paper, we take into account different types of intersections in terms of signalized, semi-autonomous (hybrid) and autonomous intersections and conduct a comprehensive survey on various intersection management methods for heterogeneous connected vehicles (CVs). We consider heterogeneous classes of vehicles such as road and rail vehicles as well as VRUs including bicycles, scooters and motorcycles. All kinds of intersection goals, modeling, coordination architectures, scheduling policies are thoroughly discussed. Signalized and semi-autonomous intersections are assessed with respect to these parameters. We especially focus on autonomous intersection management (AIM) and categorize this section based on four major goals involving safety, efficiency, infotainment and environment. Each intersection goal provides an in-depth investigation on the corresponding literature from the aforementioned perspectives. Moreover, robustness and resiliency of IM are explored from diverse points of view encompassing sensors, information management and sharing, planning universal scheme, heterogeneous collaboration, vehicle classification, quality measurement, external factors, intersection types, localization faults, communication anomalies and channel optimization, synchronization, vehicle dynamics and model mismatch, model uncertainties, recovery, security and privacy.
Highlights
Number of vehicles on the roads has grown dramatically in the recent years
In near future, cooperative traffic coordination methods using wireless vehicular communications promise to raise the performance of the intersection management (IM)
We presented a comprehensive survey on current solutions for the IM under connected vehicles environment
Summary
Number of vehicles on the roads has grown dramatically in the recent years. In 2006, there were approximately 250 million commercial vehicles and 680 million passenger cars. A control algorithm allocated the optimal path considering various inputs such as vehicle’s position, speed, signalization status and current traffic at the intersection This approach resulted in lower delay, travel time and fuel consumption of the vehicles. This method improved the performance of the intersection for hybrid traffic Another extension of [15] was presented in [63], where different types of semi-autonomous vehicles with features like cruise control received reservations similar to the CAVs. Shen et al [64] deployed a FCFS-based centralized hybrid intersection system where on-board units (OBUs) were proposed for non-autonomous vehicles to communicate with the controller using different signals like pass and stop. Topology of intersection plays a vital role in IM such that it is defined according to a specific scenario and its particular traffic condition
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