White Phase Intersection Control Through Distributed Coordination: A Mobile Controller Paradigm in a Mixed Traffic Stream

This study presents a vehicle-level distributed coordination strategy to control mixed traffic stream of connected automated vehicles (CAVs) and human-driven (CHVs) through signalized intersections. We use CAVs as mobile controllers during newly introduced “white phase”, which will negotiate the right-of-way lead group CHVs while must follow their immediate front vehicle. The white phase not be activated under low CAV penetration rates, where wait for green signals. have formulated this problem mixed-integer non-linear program developed methodology form an agreement among all on trajectories signal timing parameters. is reached iterative process, update trajectory based shared other avoid collisions share with vehicles. Additionally, parameters formed voting process most voted feasible are selected. numerical experiments indicate that proposed can efficiently vehicle movements at intersections various market shares. reduces total delay by 3.2% 94.06% compared cooperative optimization different shares in our tests. In addition, results show technique yields reductions delay, ranging from 40.2% – 98.9%, those fully-actuated obtained state-of-practice software.