Time-Optimal Coordination for Connected and Automated Vehicles at Adjacent Intersections

TL;DR

This paper introduces a hierarchical coordination framework for connected and automated vehicles at adjacent intersections, optimizing travel time through scheduling and control, validated by extensive simulations.

Contribution

It presents a novel hierarchical approach combining scheduling and optimal control for CAVs at adjacent intersections, improving efficiency over traditional methods.

Findings

Reduced travel time compared to signalized intersections

Outperformed FIFO queuing policy in simulations

Validated effectiveness through extensive numerical tests

Abstract

In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem. By partitioning the area around two adjacent intersections into different zones, we formulate a scheduling problem for each individual CAV aimed at minimizing its total travel time. For each CAV, the solution of the upper-level problem designates the arrival times at each zones on its path which becomes the inputs of the low-level problem. The solution of the low-level problem yields the optimal control input (acceleration/deceleration) of each CAV to exit the intersections at the time specified in the upper-level scheduling problem. We validate the performance of our proposed hierarchical framework through extensive numerical simulations and comparison with signalized intersections, centralized scheduling, and FIFO queuing policy.