Autonomous and Semiautonomous Intersection Management: A Survey

Intersection is a major source of traffic delays and accidents within modern transportation systems. Compared to signalized intersection management, autonomous management (AIM) coordinates the crossing at an individual vehicle level with additional flexibility. AIM can potentially eliminate stopping in due lights while maintaining safe separation among conflicting movements. In this paper, state-of-the-art research various disciplines (e.g., engineering, control engineering) surveyed from perspective three hierarchical layers: corridor coordination layer, layer. The key aspects designs are discussed details, including conflict detection schemes, priority rules, centralization, computation complexity, etc. potential improvements for evaluation emphasis realistic scenarios provided. This survey serves as comprehensive review design provides promising directions future research.