A Joint Trajectory Planning and Signal Control Framework for a Network of Connected and Autonomous Vehicles

Abstract

The advancement of the Intelligent Transport Systems (ITS) and the emerging Connected and Automated Vehicles (CAVs) technology are acknowledged to hold a great potential to mitigate challenging problems in the current transportation networks. Particularly, a proper traffic control strategy with a precise vehicular movement control scheme can alleviate the congestion and improve the safety and efficiency of the traffic. This paper proposes a novel bi-level control framework that combines a design of traffic signal timings at a network level, and a detailed trajectory control policy for individual vehicles at a link-level within a network of CAVs. We develop a group-based longitudinal trajectory planning scheme to coordinate vehicular movements at the lower level of our framework while abiding by the signal operations along with end-to-end vehicle routing decisions from the upper network level optimization. This joint and mutual interaction between the two different control strategies in the urban signalized corridors is complex and can significantly affect the overall network’s performance, nevertheless has not been explored previously in the literature. The proposed framework enables such studies where we derive an efficient algorithm that iteratively solves the mixed-integer linear programming (MILP) and linear programming models in each link at the lower and over the network at the upper levels, respectively. Numerical results show the effectiveness of the proposed joint control framework in network performance regarding the average travel time, queue formation and dissipation across the network.