A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles

TL;DR

This paper introduces a priority-aware replanning and resequencing framework for coordinating connected and automated vehicles at intersections, improving decision-making flexibility and responsiveness to disturbances.

Contribution

It extends existing decentralized CAV coordination frameworks by incorporating replanning and a novel priority-based resequencing mechanism inspired by job-shop scheduling.

Findings

Enhanced coordination efficiency demonstrated in simulations

Improved flexibility over first-come-first-serve approaches

Framework effectively responds to unexpected disturbances

Abstract

Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this paper, we first extend a decentralized framework that we developed earlier for coordination of CAVs at a signal-free intersection to incorporate replanning. Then, we further enhance the framework by introducing a priority-aware resequencing mechanism which designates the order of decision making of CAVs based on theory from the job-shop scheduling problem. Our enhanced framework relaxes the first-come-first-serve decision order which has been used extensively in these problems. We illustrate the effectiveness of our proposed approach through numerical simulations.