Fail-safe Priority-based Approach for Autonomous Intersection Management

This paper introduces a new approach for Autonomous Intersection Management (AIM) for isolated, non-signalized intersections. AIM is an innovative concept for managing autonomous and connected vehicles at an intersection. In this approach, a local Intersection Manager (IM) gives each vehicle the right-of-way to pass through the intersection. The main goal is to minimize either the total travel time or the total energy consumption in an intersection. The IM uses a priority-based intersection management approach to determine the right-of-way of the incoming vehicles. A reservation-based strategy is implemented together with a set of rules called Compatible Stream Groups (CSGs) which are inherently safe to achieve fail safety. To compare and evaluate the efficiency of our proposed approach, two alternative traffic management systems were implemented for comparison: a conventional traffic light system and a first-come-first-served policy. The proposed approach is compared with these two policies using driving scenario-based test cases. The simulation results show that our approach can be used to increase the traffic flow or decrease energy consumption without compromising safety. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.