Heuristic Platoon Control Method for CAVs at Urban Intersections
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 150, Issue 3
Abstract
Reservation-based intersection control for connected and automated vehicles (CAVs) is promising to improve travel mobility, safety, energy consumption, and reducing emissions. Though the first-come-first-served (FCFS) policy is proven to be effective in increasing traffic capacity, the fairness attribute of FCFS policy could cause higher levels of delay in asymmetric intersections (e.g., intersections of major and minor roads) compared with signal control. The reason is that the signal control gives priority to high-demand road vehicles, whereas the FCFS policy neglects road types and assigns the same priority to all vehicles. To resolve this paradox, we propose a heuristic platoon control method. Based on the real-time traffic states, vehicles adaptively form platoons to reduce the frequency of right of way (ROW) exchanges in the FCFS method and to allow continuous traffic flow on the high-demand road. A heuristic scheduling policy evaluates different policies and selects the passing mode with the minimum delay to adjust vehicles’ service sequences. By implementing a reservation cancellation mechanism, vehicles’ service sequences are updated in response to new arrivals. The simulation results demonstrate that the proposed heuristic platoon control method has a higher traffic capacity compared with the traditional FCFS method and the FCFS-based platoon method. The improvement is more significant when the minor road is two-way, the traffic is heavy, and the traffic flow difference between the major and minor roads is large. The proposed method can also reserve longer safety buffers for vehicles. Furthermore, the heuristic platoon control method is verified to be applicable to multiple intersections.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This research was financially supported by the National Natural Science Foundation of China under Grant Nos. 61903313 and 52172395, Natural Science Foundation of Sichuan, China (No. 2022NSFSC0476).
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Published In
Journal of Transportation Engineering, Part A: Systems
Volume 150 • Issue 3 • March 2024
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Jan 17, 2023
Accepted: Oct 11, 2023
Published online: Dec 23, 2023
Published in print: Mar 1, 2024
Discussion open until: May 23, 2024
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