Real-time coordination of connected vehicles at intersections using graphical mixed integer optimization

Management of connected vehicles at unsignalised intersections is a large-scale complex problem with safety constraints and time-varying unsolved variables, which is crucial but hard to solve online. A faster coordination system, however, not only benefits from smaller time granularity to find optimum, but also has more robustness towards a scenario with fast-moving vehicle nodes. This paper proposes a real-time coordination scheme consisting of three stages. (a) Target velocity optimisation: collision-free passage is formulated as a mixed integer linear programming problem, each approaching lane corresponding to an independent variable; (b) vehicle subgraph extraction: a directed graph is built and pruned based on the optimisation result, determining a subgraph wherein vehicle nodes pass without redundant time slot; (c) velocity profile synchronisation: velocity profile of the selected vehicles is planned synchronously, respecting inter-subgraph constraints. The main contribution of this study is to propose a fast hierarchical optimization-based coordination method, of which the complexity is invariant with the traffic density. Simulation has verified the effectiveness of the scheme from both microscopic behaviour and statistical characteristics, reducing single-step computation time to 0.02 s, and saving average driving delay by 59.83% compared to the benchmark method.

• Record URL:
  • https://doi.org/10.1049/itr2.12061
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1751956X
• Supplemental Notes:
  • © 2021 Qiang Ge et al.
• Authors:
  • Ge, Qiang
  • Sun, Qi
  • Wang, Zhen
  • Li, Shengbo Eben
  • Gu, Ziqing
  • Zheng, Sifa
  • Liao, Lyuchao
• Publication Date: 2021-6

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References; Tables;
• Pagination: pp 795-807
• Serial:
  • IET Intelligent Transport Systems
  • Volume: 15
  • Issue Number: 6
  • Publisher: Institution of Engineering and Technology (IET)
  • ISSN: 1751-956X
  • EISSN: 1751-9578
  • Serial URL: https://ietresearch.onlinelibrary.wiley.com/journal/17519578
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Connected vehicles; Graph theory; Highway safety; Intersections; Optimization; Wireless communication systems
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01780384
• Record Type: Publication
• Files: TRIS
• Created Date: Aug 27 2021 2:56PM