A Survey on the Coordination of Connected and Automated Vehicles at Intersections and Merging at Highway On-Ramps

Connected and automated vehicles (CAVs) have the potential to improve safety by reducing and mitigating traffic accidents. They can also provide opportunities to reduce transportation energy consumption and emissions by improving traffic flow. Vehicle communication with traffic structures and traffic lights can allow individual vehicles to optimize their operation and account for unpredictable changes. This paper summarizes the developments and the research trends in coordination with the CAVs that have been reported in the literature to date. Remaining challenges and potential future research directions are also discussed.

Notation

Intersection/merging zone length

Control zone length

Vehicle position

Vehicle speed

Control input

Road index

Vehicle index

Time

Minimum time allowed to cross the intersection

Desired following distance

Maximum between the times that vehicles and take to enter the intersection

Minimum between the times that vehicles and take to exit the intersection

Desired speed

Total number of horizons

Horizon index

Horizon length

Critical set

Penalty weight

Navigation function

Expected arrival time at intersection

Vehicle inertia