Abstract
The concept of signal-free management at road junctions is tailored for Connected and Automated Vehicles (CAVs), in which the conventional signal control is replaced by various right-of-way assignment policies. First-Come-First-Served (FCFS) is the most commonly used policy. In most proposed strategies, although the traffic signals are replaced, the organization of vehicle trajectory remains the same as that of traffic lights. As a naturally signal-free strategy, roundabout has not received enough attention. A key motivation of this study is to theoretically compare the performance of signalized intersection (I-Signal), intersection using FCFS policy (I-FCFS), roundabout using the typical major-minor priority pattern (R-MM), and roundabout adopting FCFS policy (R-FCFS) under pure CAVs environment. Queueing theory is applied to derive the theoretical formulas of the capacity and average delay of each strategy. M/G/1 model is used to model the three signal-free strategies, while M/M/1/setup model is used to capture the red-and-green light switch nature of signal control. The critical safety time gaps are the main variables and are assumed to be generally distributed in the theoretical derivation. Analytically, I-Signal has the largest capacity benefiting from the ability to separate conflict points in groups, but in some cases it will have higher delay. Among the other three signal-free strategies, R-FCFS has the highest capacity and the least average control delay, indicating that the optimization of signal-free management of CAVs based on roundabout setting is worthy of further study.
Highlights
The advanced development of automation and wireless communication technologies enables the new generation vehicles: Connected and Automated Vehicles (CAVs)
It has been demonstrated that Autonomous Intersection Management (AIM) using FCFS policy can reduce delay and emission compared to conventional intersection signal control under certain traffic conditions [19,20]
The main purpose of this study is to explore whether the roundabout may replace the intersection settings at urban roads in the environment of CAVs
Summary
The advanced development of automation and wireless communication technologies enables the new generation vehicles: Connected and Automated Vehicles (CAVs). For human-driven vehicles (HVs), the respective applicable scenarios and conditions for roundabouts and intersections have been clearly defined [7,8,9], and the state of the art calculation method of capacity can be found in [10,11]. When it comes to the era of CAVs, the situation may be different, and there is a lack of direct comparison of the performance of intersections and roundabouts in existing literature. This paper intends to fill this gap and attempts to examine the performance of different traffic management strategies (with cross intersectional organization and circular organization) for CAVs under the same traffic demand at the same road junction
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