Coordination of automated and human-driven vehicles in intersection scenarios

The paper proposes a coordination method for the automated and human-driven vehicles, which is able to guarantee their safe and optimal motion in intersections. The core of the method is a predictive cruise control formulation, in which the various performances of the vehicles are incorporated, e.g. the minimization of energy consumption and traveling time. The proposed method is based on the search for the maximum set of vehicles in which the vehicles are able to be in cooperation without stopping. In the optimization method energy functions are defined which express the importance related to their priority or energy loss. Moreover, the coordination method presents the motion prediction of both human-driven and automated vehicles, which plays significant role in the safety of the vehicles. The efficiency of the coordination is presented through various simulation scenarios in intersections.