Integrated Control Policy for Heterogeneous Traffic in Container Terminals With Unsignalized Intersections

This research investigates the control difficulties related to heterogeneous traffic flow in container terminals, featuring both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs). The lack of signal control at intersections and the unpredictable routes taken by HDVs make the efficient transport of containers within a terminal quite challenging. To tackle this issue, we present an integrated traffic control policy aimed at enhancing transportation efficiency. For each unsignalized intersection, a virtual token ring system is introduced to manage the passage of vehicles, using a back pressure-based algorithm and specific token delivery rules to determine phase sequence and duration. Furthermore, we introduce an improved back pressure-based dynamic routing method for CAVs, which allows for the selection of roads with shorter travel time while adhering to a travel distance constraint when crossing an intersection. This approach aims to minimize disruptions from HDVs, reduce travel time, and prevent excessively long travel distances. Multiple experiments are conducted to verify the proposed method's effectiveness.