Centralized Conflict Resolution At Unsignalized Intersections Based On Connected And Automated Vehicle

To improve the traffic efficiency and safety,the vehicle behavior collaborative control maneuvers at unsignalized intersections has become the key issues of CAV’s application.Under this background,the paper develops the research about the typical unsignalized intersections control method and proposes a vehicle control strategy to resolve the potential conflicts.The effectiveness of the efficiency of proposed method is validated through a simulation.The content of this paper contains:(1)This paper analyzes the requirements of control application for CAV at unsignalized intersections.After analysis of the current methods on vehicle control at unsignalized intersection,the weakness of the vehicle control is pointed out.The basic architecture of vehicle control system at unsignalized intersections is built.(2)The two-lane intersections are used as the research objects,and the characteristics of vehicle collision in different driving directions are analyzed.A rule base of vehicle priority is established to deal with the cross conflict and confluence conflict.In order to improve the traffic capacity of the crossroads with considering the vehicle safety and passenger comfort,the optimal model of vehicle collision resolution with speed control is proposed.(3)The traffic simulation platform at unsignalized intersection is developed based on the Veins simulation architecture.The algorithm of vehicle collision resolution with speed control at two-lane intersection is validated on this platform combining SUMO traffic with vehicle communication OMNeT++ simulation.The simulation results show that the proposed vehicle behavior control method based on conflict resolution strategy resolves the potential conflicts in addition to improve the traffic capacity of the intersection and the passengers’ comfort.