Scheduling of Heterogeneous Connected Automated Vehicles at a General Conflict Area

Allocating time for vehicles arriving at a general conflict point to pass without collision is a common problem in traffic operations at various facilities, such as intersections, work-zones, and merging ramps. With the advent of connected automated vehicle (CAV) technologies, vehicle scheduling at a conflict point can be precise to each individual vehicle, which enables studies on a number of individual-vehicle based control strategies at various conflict points. This paper aims to address the research gaps in both fundamental methodologies and engineering applications on this general topic. A mixed integer programming (MIP) model is proposed to solve the exact optimal solution to the vehicle scheduling problem at a multi-conflict point considering heterogeneous vehicle headways and values of time. Although small instances of the proposed model can be solved by existing commercial MIP solvers, the computational time using these solvers increases exponentially as the numbers of vehicles and approaches increase. Thus, the authors present a customized dynamic programming algorithm, where a series of valid cuts are proposed to much expedite the solution speed. The authors also propose a trajectory optimization model that minimizes the fuel consumption of each individual vehicle. A set of numerical examples with different scenarios are provided to demonstrate the feasibility and effectiveness of the proposed model and algorithm considering the delay cost as the objective function. The comparison results show that coordination of vehicles can significantly increase the capacity of the conflict point and reduce both travel time and fuel consumption.

  • Supplemental Notes:
    • This paper was sponsored by TRB committee AHB45 Standing Committee on Traffic Flow Theory and Characteristics.
  • Corporate Authors:

    Transportation Research Board

  • Authors:
    • Soleimaniamiri, Saeid
    • Li, Xiaopeng
  • Conference:
  • Date: 2019


  • English

Media Info

  • Media Type: Digital/other
  • Features: Figures; References; Tables;
  • Pagination: 9p

Subject/Index Terms

Filing Info

  • Accession Number: 01698038
  • Record Type: Publication
  • Report/Paper Numbers: 19-04176
  • Files: TRIS, TRB, ATRI
  • Created Date: Dec 7 2018 9:44AM