Alternating Direction Method of Multipliers Based Coordination Control of Multi-Vehicles and Traffic Signal*

This research proposes a coordination method for multi-connected and automated vehicles (CAVs) and traffic signal. It aims at reducing stop-and-go maneuvers of CAVs and enhancing traffic efficiency. The proposed method has the following highlights: i) Adaptive to actual CAV and humandriven vehicle (HV) mixed traffic; ii) Jointly optimization of both vehicle trajectory and signal timing via formulating in the spatial domain; iii) Parallel distributed computing. Simulation test results demonstrate that the proposed coordinated control significantly outperforms the benchmark method. The proposed method reduces the average travel delay by 29.56%, enhances fuel efficiency by 18.87%, and reduces stop count by 87.10%. The proposed parallel distributed computing algorithm ensures a computation time basically within 10 milliseconds. It indicates that the proposed method is ready for real-time large-scale implementation.