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V2N-Based Algorithm and Communication Protocol for Autonomous Non-Stop Intersections

Lorenzo Farina, Lorenzo Mario Amorosa, Marco Rapelli, Barbara Maví Masini, Claudio Casetti, Alessandro Bazzi

TL;DR

Seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping, is introduced.

Abstract

Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for autonomous intersection management, many existing proposals either rely on computationally heavy centralized controllers or overlook the practical impairments of real-world communication networks. This paper introduces seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping. Moveover delegates trajectory and speed profile selection to individual vehicles, allowing each CAV to optimize them according to its unique kinematic characteristics. Simultaneously, a local intersection controller prevents collisions through deterministic conflict zone reservations. The algorithm is rigorously evaluated under both ideal and non-ideal networking conditions, specifically modeling 4G and 5G communication delays, across multiple layouts including single-lane, multi-lane, and roundabouts. Furthermore, we test Moveover on a real urban map with multiple intersections. Simulation results demonstrate that Moveover significantly outperforms baseline strategies, offering substantial improvements in travel times and reduced pollutant emissions.

V2N-Based Algorithm and Communication Protocol for Autonomous Non-Stop Intersections

TL;DR

Seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping, is introduced.

Abstract

Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for autonomous intersection management, many existing proposals either rely on computationally heavy centralized controllers or overlook the practical impairments of real-world communication networks. This paper introduces seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping. Moveover delegates trajectory and speed profile selection to individual vehicles, allowing each CAV to optimize them according to its unique kinematic characteristics. Simultaneously, a local intersection controller prevents collisions through deterministic conflict zone reservations. The algorithm is rigorously evaluated under both ideal and non-ideal networking conditions, specifically modeling 4G and 5G communication delays, across multiple layouts including single-lane, multi-lane, and roundabouts. Furthermore, we test Moveover on a real urban map with multiple intersections. Simulation results demonstrate that Moveover significantly outperforms baseline strategies, offering substantial improvements in travel times and reduced pollutant emissions.
Paper Structure (38 sections, 5 equations, 19 figures, 4 tables)

This paper contains 38 sections, 5 equations, 19 figures, 4 tables.

Table of Contents

  1. Introduction
  2. Related works
  3. Moveover: overview and building blocks
  4. Core principles of the algorithm
  5. Negotiation and conflict zones
  6. Coordinating messages
  7. The scheduling table of the controller
  8. Moveover: protocol details
  9. Proposal by the EGO
  10. Validation by the controller
  11. Conflicts before the intersection
  12. Conflicts within the intersection
  13. Conflicts after the intersection
  14. Response from the controller
  15. Additional exchanges
  16. ...and 23 more sections

Figures (19)

  • Figure 1: Examples of considered intersections with negotiation and conflict zones. (a) Four-way single-lane intersection. (b) Three-way single-lane intersection. (c) Roundabout. (d) Four-way two-lane intersection.
  • Figure 2: An example of mobility profile planning performed by the EGO with the setting of the motion profiles, assuming a negotiation length of 10 meters.
  • Figure 3: Temporal description of the negotiation procedure, assuming as an example that the initial proposal is rejected, but the second proposal is accepted.
  • Figure 4: Average controller utilization, average queue length, and average negotiation duration varying the arrival rate.
  • Figure 5: Intersections with conflict zones and possible trajectories of the EGO. (a) Four-way single-lane intersection. (b) Three-way single-lane intersection. (c) Roundabout. (d) Four-way two-lane intersection.
  • ...and 14 more figures