Connected Vehicle Control Algorithm for All-Way Stop-Controlled Intersections

With the development of connected vehicle (CV) technology, more and more algorithms for improving the control efficiency of intersections have been proposed. However, most of these control algorithms were proposed under the environment of fully connected autonomous vehicles (CAVs). Seldom CV or CAV related studies have been conducted for all-way-stop-controlled intersections, for which, the common control strategy is first come first serve (FCFS). However, the FCFS does not optimize the order of all vehicles from the system point of view. In the environment of CVs, the order can be systematically optimized and sent to each vehicle to reduce the delay of vehicles. Thus, this paper proposes an optimization algorithm to optimize both the passing order and the timestamp of each vehicle to enter the intersection based on mixed-integer linear programming and under the promise of ensuring safety. This algorithm is designed for CVs without trajectory control and is capable of improving the efficiency of all-way-stop-controlled intersections. A control system in the real world was established to apply this algorithm. The results of experiment showed that CVs controlled by the proposed algorithm could reduce the average delay significantly compared with FCFS control algorithm for all-way-stop-controlled intersections.