Game theory algorithm for intersection-based cooperative adaptive cruise control (CACC) systems

The paper develops a heuristic optimization algorithm for automated vehicles (equipped with cooperative adaptive cruise control CACC systems) at uncontrolled intersections using a game theory framework. The proposed system models the automated vehicles as reactive agents interacting and collaborating with the intersection controller (manager agent) to minimize the total delay. The system is evaluated using a case study considering two different intersection control scenarios: a four-way stop control and the proposed intersection controller framework. In both scenarios, four automated vehicles (a single vehicle per approach) was simulated using a Monte Carlo simulation that was repeated 1000 times. The results show that the proposed system reduces the total delay relative to a traditional stop control by 35 seconds on average, which corresponds to an approximately 70 percent reduction in the total delay.