Development of a conflict-free unsignalized intersection organization method for multiple connected and autonomous vehicles.

Qinglu Ma,Qi Zhou,Shu Zhang,Jing Zhao

doi:10.1371/journal.pone.0249170

Abstract

An effective traffic control strategy will improve travel reliability in urban transportation networks. Lack of coordination between vehicles, however, exacerbates congestion due mainly to frequent stops at unsignalized intersections. It is beneficial to develop a conflict-free cooperation method that collects basic safety message from multiple approaching Connected and Autonomous Vehicles (for short, CAVs) and guarantees efficient unsignalized intersection operations with safe and incident free vehicle maneuvers. This paper proposes an interspersed traffic organization method under controlled constraints. Firstly, relied on shared location technology and considered the operating characteristics of CAVs at unsignalized intersections to detect and analyze traffic conflicts to establish a right-of-way judgment model for CAVs. In order to further ensure the safety and operating efficiency of the vehicle, based on the judgment results of right-of-way judgment model, a vehicle speed guidance model is established for different traffic conditions. Taking the real city standard intersection as the experimental analysis object, through data collection and simulation experiment, the signal control method and the organization method proposed in this paper are compared and analyzed. The results showed that the traffic organization method proposed in this paper improves the operational efficiency of 46%, the average travel time is reduced by 6.54s, which is not only better than the signal control method, but also supports the development of car networking technology.

Highlights

With the development of society and economy, the extraordinary growth of the vehicle population has brought about increasing traffic control pressure [1]
These findings are of great significance to the CAV organization method of unsignalized intersections, but in general, there is a lack of comprehensive consideration of safety, traffic efficiency and CAV computing capacity
After the vehicle has determined the right of way, in order to further ensure the safety of the autonomous vehicle in the core control area, two possible conflicts will be selected, going straight and turning left, based on the speed, position and heading angle of the critical state of the collision between the two vehicles

Summary

Introduction

With the development of society and economy, the extraordinary growth of the vehicle population has brought about increasing traffic control pressure [1]. A centralized mixed-integer liner programming (MILP) intersection control model [6], where location and speed of autonomous vehicles in each time step are gathered to provide the shortest and longest travel times to reach an intersection This method is computationally complex and only addresses through movements. The above research results show the effectiveness of intelligent network technology in solving intersection conflict problems These findings are of great significance to the CAV organization method of unsignalized intersections, but in general, there is a lack of comprehensive consideration of safety, traffic efficiency and CAV computing capacity. This paper proposes the CAVs organization method for unsignalized intersections with the goal of improving the traffic efficiency at intersections and ensuring the driving safety of vehicles. Traffic organization method of unsignalized intersection based on CAVs location service

Control area

Organization and coordination method for unsignalized intersections

Result of experimental simulation and analysis

Findings

Conclusions