Abstract
Taking advantages of connected and autonomous vehicle (CAV) technologies, this paper proposes to optimize the departure times, travel routes, and longitudinal trajectories of CAVs, as well as signal timings at intersections to achieve a stable traffic state, where no vehicles need to stop before entering any intersection and no queue spillover occurs at any intersection. The departure times, travel routes and signal timings are optimized in central controller, while the vehicle trajectories can be optimized by distributed roadside processors, which together form a hierarchical traffic management scheme. The conventional NEMA phasing structure is applied for signal control, so that no additional safety issue needs to be considered inside crowded intersections. Two mixed-integer nonlinear programs are proposed for achieving the stable traffic state on arterials and in grid networks. Numerical tests are performed to demonstrate the two programs.
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