Abstract
Intersections are typical bottle necks in urban traffic system. Unsignalized intersection technology, together with the Connected and Autonomous vehicles (CAVs), has a great potential to alleviate traffic congestion and has gained rapidly increasing interest. This work presents a Mixed Integer Nonlinear Programming (MINLP) model to generate the CAV trajectories that maximize average speed, so as to guide CAVs to pass an unsignalized intersection in a safe and efficient manner. Specifically, potential conflict points between CAVs from different lanes are analyzed. Upon that, the realistic constraints, e.g. vehicle kinematic limits and collision avoidance under different conflict scenarios, are established. To carry out collision avoidance mechanism and control the time at which CAVs pass the conflict point, we reformulate the arc-shaped CAVs' trajectory at an unsignalized intersection into a straight line. Numerical examples are conducted on several representative applications and demonstrate the effectiveness of proposed mathematical model.
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