Intelligent Intersection Management of Autonomous Traffic Using Discrete-Time Occupancies Trajectory

Abstract

In this paper, a novel approach, called the Discrete-Time Occupancies Trajectory (DTOT), is proposed for intersection management of autonomous traffic in which all vehicles in the system are Autonomous Vehicles (AVs) and capable of wireless Vehicle-to-Intersection (V2I) communication. The main advantage of the proposed DTOT-based intersection management is that it enables us to utilize the space within an intersection more efficiently resulting in less delay for vehicles to cross the intersection. In the proposed framework, an intersection coordinates the motions of AVs based on their proposed DTOTs to let them cross the intersection efficiently while avoiding collisions. In case when there is a collision between vehicles' DTOTs, the intersection modifies conflicting DTOTs to avoid the collision and requests AVs to approach and cross the intersection according to the modified DTOTs. We verify the efficiency of the proposed approach through simulation using an open-source traffic simulator, called the Simulation of Urban Mobility (SUMO). To correctly capture the throughput and fairness of algorithms, we also defined a novel measure: Effective Average Trip Time. The simulation results show that DTOT algorithm performs better than other existing intersection management scheme: concurrent intersection management scheme. 