Cooperative Maneuver Planning for Mixed Traffic at Signalized Intersections

The growing number of vehicles with various autonomy levels leads to a phase where legacy (LV) and sensor-rich (SRV) vehicles coexist on the roads. This state of traffic requires solutions that leverage the connectivity and cooperation between these different vehicle types. This paper addresses a cooperative maneuver planning problem of mixed traffic scenarios in the vicinity of signalized intersections. In the proposed method, SRVs and LVs can constitute a platoon led by an SRV such that coordinated and safer motion actions can be taken based on the condition at the intersection. The leader SRV of a platoon retrieves the signal phase and timing (SPaT) from the roadside unit, and it optimizes the arrival time to the intersection and the trajectory of the platoon accordingly. The scheduled arrival time not only minimizes the travel time but ensures that all the vehicles can safely traverse the intersection within the green wave. In addition, the proposed system does not require a centralized server to solve the maneuver planning problem and leverages the computational power of SRVs. A microscopic traffic simulation study has been performed in the Simulation of Urban Mobility (SUMO) framework. The simulation results show that the proposed approach outperforms the base scenario, which is a signal-controlled intersection, in travel time and fuel consumption while improving the safety of all vehicles.