Unsignalized intersection cooperation has been be proved to be able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research about unsignalized intersection cooperation considers fixed lane turning, where only specific turning behavior of vehicles is allowed on each lane. Given that traffic volume abd the proportion of vehicles with different turning expectation may change with time, fixed lane turning may lead to inefficiency at intersetions. This paper proposes a multi-lane unsignalized intersection cooperation method that considers variable lane turning. The two-dimensional distribution of vehicles is calculated and vehicles that are not in conflict are scheduled to pass the intersection simultaneously. The formation reconfiguration method is utilized to achieve collision-free longitudinal and lateral position adjustment of vehicles. Simulations are conducted at different input traffic volumes and turning proportion of in-coming vehicles, and the results indicate that our method outperformances the fixed-lane-turning unsignalized cooperation method and the signalized method.
For further details, please refer to:
[1] Cai M, Xu Q, Chen C, et al. Multi-lane unsignalized intersection cooperation with flexible lane direction based on multi-vehicle formation control[J]. IEEE Transactions on Vehicular Technology, 2022, 71(6): 5787-5798. (https://ieeexplore.ieee.org/abstract/document/9740423/)
[2] Xu Q, Cai M, Li K, et al. Coordinated formation control for intelligent and connected vehicles in multiple traffic scenarios[J]. IET Intelligent Transport Systems, 2021, 15(1): 159-173. (https://ietresearch.onlinelibrary.wiley.com/doi/full/10.1049/itr2.12022)
[3] Cai M, Xu Q, Li K, et al. Multi-lane formation assignment and control for connected vehicles[C]//2019 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2019: 1968-1973. (https://ieeexplore.ieee.org/abstract/document/8813792)
[4] Cai M, Xu Q, Chen C, et al. Formation control with lane preference for connected and automated vehicles in multi-lane scenarios[J]. Transportation research part C: emerging technologies, 2022, 136: 103513. (https://www.sciencedirect.com/science/article/pii/S0968090X21004964)
[5] Cai M, Xu Q, Chen C, et al. Formation control for connected and automated vehicles on multi‐lane roads: Relative motion planning and conflict resolution[J]. IET Intelligent Transport Systems, 2023, 17(1): 211-226. (https://ietresearch.onlinelibrary.wiley.com/doi/full/10.1049/itr2.12249)
[6] Cai M, Xu Q, Chen C, et al. Formation control for multiple connected and automated vehicles on multi-lane roads[C]//2021 IEEE International Intelligent Transportation Systems Conference (ITSC). IEEE, 2021: 1940-1945. (https://ieeexplore.ieee.org/abstract/document/9564760)
Corresponding E-mail:
caimengchi@mail.tsinghua.edu.cn
Follow my updates on Researchgate: https://www.researchgate.net/profile/Mengchi-Cai