Bilevel Virtual Platoon-Based Coordination Framework for Connected Autonomous Vehicles at Unsignalized Intersections
Abstract
Unsignalized intersections present challenges for traffic coordination, particularly with the increasing adoption of connected and autonomous vehicles (CAVs). This paper proposes a bilevel virtual platoon‑based coordination framework that organizes vehicles into platoons and controls their crossing sequence using a hierarchical strategy. The strategic layer assigns priority among platoons while the tactical layer regulates speed and spacing within each platoon. Simulation results indicate improved traffic flow, reduced waiting time, and safe intersection traversal compared with uncoordinated vehicle movement.
References
[2] Q. Lu and K. Kim, 'Autonomous intersection management using connected vehicles,' IEEE VTC, 2018.
[3] H. Xu et al., 'Vehicle coordination at unsignalized intersections,' IEEE ITS, 2020.
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