Connected and Autonomous Vehicles (CAVs) can substantially improve the safety and efficiency of transportation systems. In this paper, we provide a centralized framework for increasing the flow and decreasing the delay at a four-way intersection by assigning safe reference speeds to CAVs. We rely on CAV capabilities, such as ideal connectivity with a central infrastructure controller and each CAV's ability to track a reference speed prescribed by the central infrastructure controller. Our approach comprises: (1) a high-level multi-vehicle intersection controller, and (2) a low-level reference trajectory tracking controller. For each CAV requesting access to the intersection, a high-level intersection controller determines the safe reference trajectory. In determining the safe reference trajectory, the high-level intersection controller also considers the response of the low-level reference trajectory tracking controller. The speed plans of other CAVs that have been granted reference trajectories prior are also considered. Our high-level multi-vehicle intersection controller requires very little communication bandwidth and processes a request to cross an intersection in real-time. The effectiveness of the proposed approach is validated through simulations and comparison with a signalized intersection implemented in the traffic simulator.
Centrally Coordinated Vehicles in a Signal Free Intersection
24.09.2024
772815 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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