Cooperative Driving Method in Mixed Traffic at Unsignalized Intersections Based on Virtual Platoon

抄録

Reducing traffic accidents and congestion remains a major challenge, especially at intersections which often cause traffic bottlenecks. Connected and Automated Vehicles (CAVs) are expected to improve traffic safety and efficiency through cooperative driving based on communication with other vehicles and infrastructure. While various cooperative driving methods for unsignalized intersections have been proposed, most of these methods assume that all vehicles in the system are CAVs. However, it is also necessary to consider mixed traffic environments involving both CAVs and human-driven vehicles since full CAV market penetration is not expected for several decades. There are several challenges in considering human-driven vehicles such as speed deviation and acceleration specifications. In this paper, we propose a cooperative driving method in mixed traffic at unsignalized intersections based on Virtual Platoon. We determine minimum following distances based on vehicle types and human-driven vehicles' target speed which is indicated to the drivers. Simulation results using a traffic simulator demonstrate that the proposed method successfully avoids collisions in mixed traffic and reduces average travel time by up to 18.7 seconds compared to signal control.