Consensus Coordination in the Network of Autonomous Intersection Management

Abstract

The Autonomous Intersection Management (AIM) will be a future method for the Intelligent Transportation System. It combines wireless communication and the autonomous vehicle in order to create the new concept for managing road traffic more safely and efficienly. The distributed control principle is applied to the intersection network to control the traffic in the macroscopic level. The Vehicle to Infrastructure (V2I) and Infrastructure to Infrastructure (I2I) communication are used to exchange the traffic information between a single autonomous vehicle to the network of autonomous intersections The discrete time consensus algorithm is implemented to coordinate the gross traffic density of an intersection and its neighborhoods in the network. The boundary condition for the uncongested flow is created by using the Greenshield's traffic model. The proposed method represents the ability to maintain the traffic flow rate of each intersection and operates with the uncongested flow condition. The simulation results of the network of a multiple autonomous intersection are provided.