A single-layer approach for joint optimization of traffic signals and cooperative vehicle trajectories at isolated intersections

A joint control approach that simultaneously optimizes traffic signals and trajectories of cooperative (automated) vehicle platooning at urban intersections is presented in this paper. In the proposed approach, signal phase lengths accelerations controlled platoons are optimized to maximize comfort minimize travel delay within cycle, subject motion constraints on speeds, safe following gaps. The red phases initially considered as logic constraints, then recast several linear enable efficient solutions. solved by mixed integer programming (MILP) techniques after linearization objective function. generated outputs MILP problem optimal timings all vehicles. This flexible incorporating multiple movements under different demand levels it does not require prespecified terminal conditions position speed cycle tail. performance verified simulation a standard four-arm intersection balanced unbalanced arrival rates from arms, taking released movement numbers, turning proportions, numbers into account. results demonstrate platoon controller (such split, merge, acceleration deceleration maneuvers) signals. Based results, patterns explored, which provide insights actions environment. Furthermore, computational analyzed, benefits average delay, throughput, fuel consumption, emission proved comparing with two-layer approaches using car model, optimization models, state-of-the-art approach.