Abstract
This paper presents a cumulative travel-time responsive (CTR) real-time intersection control algorithm that takes full advantage of connected vehicles (CVs). The potential benefits of the proposed CTR algorithm under varying imperfect CV market penetration rates and traffic congestion conditions were investigated. The core of the CTR algorithm is based on a stochastic state estimation technique utilizing Kalman filtering that is used in estimating the cumulative travel times under imperfect market penetration rates at every update interval. Comprehensive simulation experiments covering varying volume-to-capacity ratios and imperfect market penetration rates were performed at a hypothetical isolated intersection with two through lanes and a single left-turn lane at each approach. At 100% market penetration, the CTR algorithm improved the total delay time and average speed of the intersection by 34 and 36%, respectively, compared to an optimized actuated control. It was found that at least 30% market penetration rates are needed to realize the benefits of the CTR algorithm.
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