Abstract
In this paper, we investigate the intersection traffic management for connected automated vehicles (CAVs). In particular, a decentralized autonomous intersection management scheme that takes into account both the traffic efficiency and scheduling flexibility is proposed, which adopts a novel intersection–vehicle model to check conflicts among CAVs in the entire intersection area. In addition, a priority-based collision-avoidance rule is set to improve the performance of traffic efficiency and shorten the delays of emergency CAVs. Moreover, a multi-objective function is designed to obtain the optimal trajectories of CAVs, which considers ride comfort, velocities of CAVs, fuel consumption, and the constraints of safety, velocity, and acceleration. Simulation results demonstrate that our proposed scheme can achieve good performance in terms of traffic efficiency and shortening the delays of emergency CAVs.
Highlights
connected automated vehicles (CAVs) can determine the crossing order according to the proposed priority rule and optimize their trajectory planning according to the proposed control algorithm periodically
As the total number of CAVs is fixed within given simulation time, the traffic efficiency and traffic delays can be determined for each scheme
We first proposed a novel intersection–vehicle model, which can consider all possible collisions of CAVs in the intersection area
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. The authors in [13] designed a decentralized model predictive controller (MPC) to control each CAV crossing the intersection area, where a multi-objective function that considers rear-end collision avoidance at control zone and conflict avoidance at intersection zone is set to improve the performance of traffic efficiency, fuel consumption and ride comfort. A priority-based collision-avoidance rule is proposed to improve the performance of traffic efficiency and delays of emergency CAVs. The rule, which considers the arrival time of CAVs to the intersection zone and the emergency level of CAVs, guarantees that the CAVs followed by emergency CAVs and the CAVs that can arrive at intersection zone earlier have higher crossing priorities.
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