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Managing connected and automated vehicles with flexible routing at lane-allocation-free intersections

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Document pages: 31 pages

Abstract: Trajectory planning and coordination for connected and automated vehicles(CAVs) have been studied at isolated ``signal-free intersections and in``signal-free corridors under the fully CAV environment in the literature.Most of the existing studies are based on the definition of approaching andexit lanes. The route a vehicle takes to pass through an intersection isdetermined from its movement. That is, only the origin and destination arms areincluded. This study proposes a mixed-integer linear programming (MILP) modelto optimize vehicle trajectories at an isolated ``signal-free intersectionwithout lane allocation, which is denoted as ``lane-allocation-free (LAF)control. Each lane can be used as both approaching and exit lanes for allvehicle movements including left-turn, through, and right-turn. A vehicle cantake a flexible route by way of multiple arms to pass through the intersection.In this way, the spatial-temporal resources are expected to be fully utilized.The interactions between vehicle trajectories are modeled explicitly at themicroscopic level. Vehicle routes and trajectories (i.e., car-following andlane-changing behaviors) at the intersection are optimized in one unifiedframework for system optimality in terms of total vehicle delay. Consideringvarying traffic conditions, the planning horizon is adaptively adjusted in theimplementation procedure of the proposed model to make a balance betweensolution feasibility and computational burden. Numerical studies validate theadvantages of the proposed LAF control in terms of both vehicle delay andthroughput with different demand structures and temporal safety gaps.

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