Re-planning Optimization of Cooperative Vehicle Coordination at Road Intersections

Recent investigations show that, the traffic throughput and safety could be effectively improved when vehicles follow coordination instructions from a centralized coordination center at road intersections. However, due to the inevitable noise of the vehicle control, sensing, and limited channel resources, the coordination instructions need to be “updated” periodically. Aiming at this issue, we define a “Yaw Risk” based re-planning strategy, which consists of a multi-vehicle re-planning selection and a multi-channel allocation scheme, to minimize the uncertainty of the entire coordination system. Variable safety redundancies of the collision-free tunnel are adopted to guarantee the tradeoff between safety and traffic throughput. Numerical results are provided and verify our analysis.