Time optimal scheduling of automated vehicle arrivals at urban intersections

Optimal Arrival Time Scheduling (OATS) is a strategy for intersection control in an environment of highly or fully automated vehicles previously developed by the authors. It schedules vehicle arrivals at the intersection with a Mixed Integer Linear Program (MILP). OATS goal is to minimize vehicle delay at the intersection and its approaches while avoiding collisions. This goal is achieved by decomposing the coordination problem into the aforementioned MILP and three other subproblems. In this work, we extend the OATS strategy allowing for the modeling of any intersection layout and arbitrary speed profiles inside the intersection. Simulation results confirm that the strategy is able to perform adequately in realistic traffic intersections.