A Vehicle-Intersection Coordination Scheme for Smooth Flows of Traffic Without Using Traffic Lights

作者：Kamal Md Abdus Samad^*; Imura Jun ichi; Hayakawa Tomohisa; Ohata Akira; Aihara Kazuyuki

来源：IEEE Transactions on Intelligent Transportation Systems, 2015, 16(3): 1136-1147.

DOI：10.1109/TITS.2014.2354380

• Automated vehicles
• connected vehicles
• intelligent transportation systems
• intersection coordination
• model predictive control (MPC)

This paper presents a coordination scheme of automated vehicles at an intersection without using any traffic lights. Using a two-way communication network, vehicles approaching the intersection from all sections are globally coordinated, by considering their states all together in a model predictive control framework, in order to achieve smooth traffic flows at the intersection. The optimal trajectories of the vehicles are computed based on avoidance of their cross-collision risks around the intersection under relevant constraints and preferences. The scheme efficiently utilizes the intersection area by preventing each pair of conflicting vehicles from approaching their cross-collision point at the same time, instead of reserving the whole intersection area for the conflicting vehicles one after another. The scheme also enables left- or right-turning movements of vehicles under constrained velocity without using any auxiliary lanes. The proposed vehicle-intersection coordination scheme is evaluated through numerical simulation in a typical test intersection consisting of both multilanes and single-lane approaches with turning movements of vehicles. Observations under different traffic flow conditions reveal that the proposed scheme significantly improves intersection performance compared with the traditional signalized intersection scheme.

• 出版日期2015-6