Distributed Scheduling at Non-Signalized Intersections with Mixed Cooperative and Non-Cooperative Vehicles

TL;DR

This paper proposes a two-stage distributed scheduling policy for mixed cooperative and non-cooperative vehicles at intersections, enhancing efficiency and safety over existing methods.

Contribution

It introduces a novel two-stage policy that leverages cooperation relations for improved intersection management in mixed traffic systems.

Findings

Reduces scheduling cost significantly

Increases throughput of cooperative vehicles

Proves safety and efficiency theoretically

Abstract

Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in mixed systems as the benefit of cooperation is not exploited. This letter focuses on the efficient scheduling in mixed systems and proposes a two-stage policy that makes full use of the cooperation relation. Specifically, a long-horizon self-organization policy is first developed to optimize the passing order of cooperative vehicles in a distributed manner, which is proved convergent when inbound roads are sufficiently long. Then a short-horizon trajectory planning policy is proposed to improve the efficiency when an ego-vehicle faces both cooperative and non-cooperative vehicles, and its safety and efficiency are theoretically validated. Furthermore, numerical simulations verify that the proposed policies can effectively reduce the scheduling cost and improve the throughput for cooperative vehicles.