Organizing intelligent vehicles at traffic lights to decrease travel time in a double lane road

In this paper, we propose a central coordination system to compute optimized trajectories of intelligent vehicles in a double lane road with traffic lights. The focus is to decrease travel time when comparing to human drivers traffic. First, we predict the waiting line formation order when vehicles approach traffic lights. Then, we compute a global motion plan in order to force trajectories result in a reordered line formation. The idea is to place faster vehicles in front of the slower ones which will result in less obstruction and consequently travel time gain. A motion planning algorithm is proposed.