V2N-Based Algorithm and Communication Protocol for Autonomous Non-Stop Intersections

TL;DR

This paper presents Moveover, a V2N-based algorithm enabling autonomous vehicles to cross intersections without stopping, optimizing travel and safety despite network delays, and validated through extensive simulations and real urban map testing.

Contribution

Introduces Moveover, a novel V2N communication protocol and algorithm for autonomous intersection crossing that accounts for real-world network impairments and vehicle heterogeneity.

Findings

Significantly reduces travel times compared to baseline strategies.

Improves safety by collision avoidance through local conflict zone reservations.

Maintains performance under realistic network delays such as 4G and 5G.

Abstract

Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for autonomous intersection management, many existing proposals either rely on computationally heavy centralized controllers or overlook the practical impairments of real-world communication networks. This paper introduces seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping. Moveover delegates trajectory and speed profile selection to individual vehicles, allowing each CAV to optimize them according to its unique kinematic characteristics. Simultaneously, a local intersection controller prevents collisions through deterministic conflict zone reservations. The algorithm is rigorously evaluated under both ideal and non-ideal networking conditions, specifically modeling 4G and 5G communication delays, across multiple layouts including single-lane, multi-lane, and roundabouts. Furthermore, we test Moveover on a real urban map with multiple intersections. Simulation results demonstrate that Moveover significantly outperforms baseline strategies, offering substantial improvements in travel times and reduced pollutant emissions.