A rule based control algorithm of connected vehicles in uncontrolled intersection

Aiming to address the safety issue for the uncontrolled intersection, the existing schemes including design optimization of the intersection structure and additional traffic signal layout will waste lots of resources. With the rapid development of intelligent transportation, the technology of vehicle-vehicle communication provides a new way for this problem. The paper proposed a set of rules to clarify the sequence of vehicles to pass through uncontrolled intersection. The rules are planned based on the law of road traffic safety. According to the rules, each approaching car makes decision for preempting or yielding other cars based on the information from vehicle-vehicle communication. If the approaching car needs to yield other cars, we propose an algorithm to find a proper deceleration value to do yielding. The car brakes automatically using this deceleration value to avoid collision with other cars. After all, the tests were done to verify the effectiveness of the algorithm and demonstrate the function among the connected vehicles in intersection. The rule based collision avoidance algorithm can provide real-time collision detection and make safe deceleration for the cars crossing the uncontrolled intersection.