Multi-Lane Unsignalized Intersection Cooperation With Flexible Lane Direction Based on Multi-Vehicle Formation Control

Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss signalized intersections improve traffic efficiency. Most the existing research on unsignalized considers fixed lane direction, where only specific turning behavior allowed each lane. Given that volume proportion with different expectation may change time, direction lead inefficiency at intersections. This paper proposes a multi-lane method flexible direction. The two-dimensional distribution calculated are not in conflict scheduled pass simultaneously. formation reconfiguration utilized achieve collision-free longitudinal lateral position adjustment vehicles. Simulations conducted input volumes incoming vehicles, results indicate our outperformances fixed-lane-direction method.