Connected and autonomous vehicles coordinating approach at intersection based on space-time slot

摘要

Connected and Autonomous Vehicle (CAV) technology provides the possibility of Slot-based Intersections. A space-time slot-based CAV operational control approach is proposed in this paper. Links connected to the intersection are divided into three areas: approach area, adjust area and maintain area. The double-loop Spatial Position Associating Time Series (SPATS) method and the Acceleration Dynamically Adjusting based on Predicted Trajectory (ADAPT) method are applied to guide the vehicles. The double-loop SPATS guarantees the vehicle safety, improves the traffic efficiency and maintains the performance of the method in heavy traffic. The ADAPT calculates the vehicle time-position curve as smoothly as possible. A simulation environment was established to evaluate the effectiveness of the approach. In the simulated intersection, the intersection can reach a maximum capacity of 5200 vehicles per hour. Other analyses, such as signal, stop sign and platoon control strategies, have demonstrated the superiority of the approach.