Autonomous Vehicle-Intersection Coordination Method in a Connected Vehicle Environment

Abstract

In response to the need for developing coordinated schemes of autonomous vehicles (AVs) at an intersection. This paper presents a novel coordination method for intersection management in a connected vehicle environment. The road network is divided into three logical sections, namely, buffer area, core area and free driving area. In addition, a buffer-assignment mechanism is developed to cooperatively assign a specific crossing span for an individual AV and guide each AV to adjust its entry time and corresponding speed in the core area. A set-projection algorithm and a three-segment linear speed profile are employed to control the trajectories of the AVs in the buffer area. Furthermore, the assignment failure handling process and the crossing rule for human-driven vehicles are advanced to enhance the practicability and reliability of the buffer-assignment mechanism. The performance of the proposed method is evaluated by simulating various traffic conditions on an actual urban network. The simulation experiments and sensitivity analyses demonstrate that the proposed method can significantly reduce 24.2%-77.1% of travel delays, decrease almost 99% of number of stops and improve the sustainability of the traffic system by saving 22.1%-52% of fuel consumption.