Cooperative vehicle‐actuator system: a sequence‐based framework of cooperative intersections management

With the emergence of cooperative driving, an innovative traffic control concept, Cooperative Intersection Management (CIM), has emerged. In the framework of CIM, vehicles can wirelessly communicate with the intersection controller for negotiating the right‐of‐way. Each vehicle is dealt with individually by the controller. Thus, the right‐of‐way can be customised on measurement of vehicles’ state. CIM has a great potential to increase the capacity of intersections. However, this new concept deserves a profound research such as finding an efficient control mechanism that can balance between safety and efficiency issues. This study proposes a sequence‐based system, which is referred to as cooperative vehicle‐actuator system, to achieve this purpose. The control in this system turns to determine the vehicle passing sequence under safety constraints. Two control strategies under this system are introduced to find the vehicles passing sequence in real time. Microscopic simulations are implemented to verify the performance of the proposed system. Besides, a real intersection test is carried out to prove the feasibility of the system in real world applications.