Autonomous and connected intersection crossing traffic management using discrete-time occupancies trajectory

Abstract

In this paper, we address the problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, we propose an algorithm called the discrete-time occupancies trajectory based intersection traffic coordination algorithm (DICA). We show that the basic DICA has a computational complexity of $\mathcal {O}(n^{2} {L_{m}^{3}})$ where n is the number of vehicles granted to cross an intersection and Lm is the maximum length of intersection crossing routes. To improve the overall computational efficiency of the algorithm, the basic DICA is enhanced by several computational approaches that are proposed in this paper. The enhanced algorithm has the computational complexity of $\mathcal {O}(n^{2} L_{m} \log _{2} L_{m})$ . The improved computational efficiency of the enhanced algorithm is validated through simulations using an open source traffic simulator called the simulation of urban mobility (SUMO). The overall throughput, as well as the computational efficiency of the enhanced algorithm, are also compared with those of an optimized traffic light control algorithm.