A Two-Stage Optimization Method for Schedule and Trajectory of CAVs at an Isolated Autonomous Intersection

Autonomous intersection management has become a state-of-the-art control strategy customized for connected and autonomous vehicles. Combining the advantages of tile-based and conflict point-based approaches, this paper proposes a two-stage optimization method based on a developed intersection modeling approach. The first stage is a timing schedule optimization model, assigning vehicle arrival times at an intersection. Based on the output of the first stage, the second stage is a trajectory optimization model, which gives the eco-driving strategies. Moreover, a rolling optimization with a variable cycle length is adopted to run the method continuously. Simulation results show that the proposed method outperforms the genetic algorithm-based method in terms of computation time, and can reduce vehicle delay and fuel consumption by 89.48% and 46.84%, respectively, under different traffic demands compared to the first-come-first-serve method. Furthermore, the performance of the proposed method under asymmetric traffic demand is discussed. Sensitivity analyses suggest that (1) a long cycle length benefits the proposed method within certain limits and (2) a proper deceleration within the intersection can balance traffic delay with fuel consumption. In addition, an additional model with a heuristic rule is compared with the original timing schedule optimization model. It is found that reducing binaries in the first stage can make a tradeoff between the quality of the solution and efficiency, which can be used in conjunction with long cycles.

• Record URL:
  http://dx.doi.org/10.1109/TITS.2022.3230682
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Yao, Zhihong
  • Jiang, Haoran
  • Jiang, Yangsheng
  • Ran, Bin
• Publication Date: 2023-3

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 3263-3281
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 24
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Connected vehicles; Intelligent transportation systems; Isolated intersections; Trajectory
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01891250
• Record Type: Publication
• Files: TRIS
• Created Date: Aug 28 2023 9:19AM