V2I based cooperation between traffic signal and approaching automated vehicles

A bilevel programming model for autonomous intersection control and trajectory planning

“…First, although the number of binary variables is greatly reduced due to the dynamic platoon formation, a more efficient heuristic method is still needed to enable a real-time application in the future. One possible way is to apply signal phases to reduce the number of binary variables (Xu et al 2017;Yu et al 2018), but this also reduces the flexibility of the intersection control. Platoon-based approach is not always beneficial for reducing the delay.…”

“…An enumeration method is used to obtain best signal timing instead of an optimisation model. Müller, Carlson, and Junior (2016); Yang, Guler, and Menendez (2016); Xu et al (2017) and Yu et al (2018) formulated the problem as a two-stages problem: solve intersection optimisation first, and then optimise the trajectory. Müller, Carlson, and Junior (2016) and Yu et al (2018) assumed that every vehicle can achieve the maximum speed or desire speed when entering the intersection which may not be possible for the vehicle close to the intersection, or in high demand situation.…”

“…Yang, Guler, and Menendez (2016) assumed a piece-wise linear trajectory in the trajectory optimisation model which may not be realistic, but unconnected vehicles are also considered in their model. Xu et al (2017) and Yu et al (2018) combined traffic signal optimisation with phases and an optimal control model for vehicle trajectory optimisation. However, they still use the conventional duel ring signal structure for the case of autonomous vehicles and there is no feedback between signal optimisation and vehicle trajectory optimisation.…”

Inter-Vehicle Communication Protocol Design for a Yielding Decision at an Unsignalized Intersection and Evaluation of the Protocol Using Radio Control Cars Equipped with Raspberry Pi

“…There are several studies on controlling vehicles at an intersection. The method proposed in Reference [2] assumes only self-driven vehicles and combines optimization of traffic signal change timing and optimization of vehicle speeds at a signalized intersection. The system exchanges information with a roadside unit and estimates the times when vehicles arrive at the intersection.…”

“…While the introduction of self-driving systems is expected to reduce the number of accidents and traffic jams, it is necessary to implement new vehicle running control regulations and invest in roadside infrastructures if we are to ensure safe and efficient traffic on the road. Many researchers have proposed traffic control methods, in particular for application to accident-prone intersections [2][3][4][5][6][7]. Generally, it is difficult for vehicles to recognize other vehicles and exchange information with them autonomously.…”