Conflict-Free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-Based Modeling and Optimality Analysis

  title={Conflict-Free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-Based Modeling and Optimality Analysis},
  author={Chaoyi Chen and Qing Xu and Mengchi Cai and Jiawei Wang and Jianqiang Wang and Keqiang Li},
  journal={IEEE Transactions on Intelligent Transportation Systems},
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor in improving intersection traffic mobility. In this paper, we propose a graph-based cooperation method to formalize the conflict-free scheduling problem at an unsignalized intersection. Based on graphical analysis, a vehicle’s trajectory conflict… 

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