Rostomyan, Gary (University of Southern California), Savla, Ketan (University of Southern California), Ioannou, Petros (University of Southern California)

Centrally Coordinated Vehicles in a Signal Free Intersection

Scheduled for presentation during the Regular Session "Autonomous vehicles - intersection management" (FrAT8), Friday, September 27, 2024, 10:30−10:50, Salon 16

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 8, 2024

Abstract

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 tra- jectory 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.