Abstract:

Reservation-based approach is a classical method of multi-vehicle cooperative controlling at traffic-lightless intersections. The traditional reservation-based approach usually assumes that only intelligent and connected vehicles （ICVs） exist at the intersection， which lacks discussion on the coexistence of human-driven vehicles （HDVs） and ICVs in this scenario. In this paper， based on the reservation-based approach， the cooperative control method for traffic-lightless intersections with mixed ICVs and HDVs is studied， and the impact of ICV penetration on traffic efficiency at traffice-lightless intersections is explored. Firstly， the functional zones of the traffic-lightless intersection under mixed traffic flow are divided， and the architecture of the reservation-based multi-vehicle cooperative control system for mixed traffic flow is proposed. Furthermore， the reservation-based multi-vehicle cooperative control strategy for mixed traffic flow is formulated， including the ICV cell reservation strategy and ICV speed control strategy considering the characteristics of HDVs. Finally， the SUMO/Python joint simulation platform is built to simulate the strategy under different traffic flows with the ICV penetration of 30%， 60%， 90% and 100% respectively， with the intersection passing rate and the average speed of the road section as the evaluation indicators. The results show that the proposed control strategy can ensure that all vehicles can pass the intersection safely， and the efficiency of traffic-lightless intersections increases with the increase of ICV penetration.

Key words: traffic-lightless intersections, mixed traffic flow, intelligent and connected vehicles, reservation-based approach, different penetration rates