Adaptive signalized intersection control with safety guarantees is proposed for a connected intersection serving mixed traffic consisting of automated and human-driven vehicles. To assure safety, we utilize backward reachable tubes to ensure that the conflict zone is not reached simultaneously by two vehicles. The backward reachable tubes of given initial conditions can be computed offline and stored on the cloud (or infrastructure). The high-level decision determines the signals along with a proposed trajectory for the connected automated vehicle, in order to strive for traffic efficiency while ensuring safety. We start with two vehicles (one connected automated vehicle and one connected human vehicle) and demonstrate traffic efficiency and safety assurance with numerical simulations under a wide range of scenarios. We show that, with respect to the worst trip delay, the proposed strategy outperforms the benchmark of a heuristic traffic management algorithm.
Adaptive Signalized Intersection Control in Mixed Traffic Environment of Connected Vehicles with Safety Guarantees
2023-09-24
2591403 byte
Conference paper
Electronic Resource
English
Traffic Safety Improvement Design of Signalized Intersection
Trans Tech Publications | 2013
|Trans Tech Publications | 2011
|