Junction Management for Connected and Automated Vehicles: Intersection or Roundabout?
Abstract
:1. Introduction
1.1. Related Work
1.2. Contributions
2. Preliminaries
- The communication capabilities of CAVs are perfectly operated, without any malfunctions.
- Lane changing is not allowed within the junction area, and vehicles strictly follow the traffic rules determined by the organization of the junction.
- The arrival process of vehicles on each stream is a Poison process with parameter and independent of each other.
- The difference between is not distinguished in this paper and a general distribution with expectation for is assumed. The distribution of is determined by the CACC policies with expectation . Empirically, .
- Gap acceptance of CAVs is determined by the advanced control systems.
3. Capacity
3.1. Signalized Intersection (I-Signal)
3.2. Intersection Using FCFS Policy (I-FCFS)
3.3. Roundabout Using FCFS Policy (R-FCFS)
3.4. Roundabout Using Major-Minor Policy (R-MM)
3.5. Capacity Comparison
4. Delay
4.1. Delay Formulation
4.2. Delay Comparison
4.2.1. Signal vs. Signal-Free Strategies
4.2.2. R-FCFS vs. I-FCFS
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Conflicts of Interest
References
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Set | Description |
---|---|
L | set of lanes (streams) |
set of non-conflicting streams of stream i | |
set of conflicting streams of stream i | |
E | set of entry approaches |
Variable | Description |
C | capacity of a control strategy |
D | average control delay |
signal cycle time (s) | |
total loss time in signal control (s) | |
total green time in signal control (s) | |
an arbitrary CAV | |
headway of CACC (s) | |
safety time gap between two vehicles from conflicting streams (s) | |
base/saturation flow rate of a stream () | |
vehicle arrival rate of stream i () | |
the sum of the arrival rate in stream group g | |
the maximum arrival rate in stream group g | |
the sum of | |
the sum of | |
service rate of a queueing system | |
X | service time |
W | mean waiting time of a queueing system |
Stream i | Conflicting Stream Set |
---|---|
1 | 3 6 7 8 |
2 | 3 4 5 8 |
3 | 1 2 5 8 |
4 | 2 5 6 7 |
5 | 2 3 4 7 |
6 | 1 4 7 8 |
7 | 1 4 5 6 |
8 | 1 2 3 6 |
Entry Stream | Circulating Stream | |
---|---|---|
superimposed of stream | 1 2 | 3 4 6 |
superimposed of stream | 3 4 | 5 6 8 |
superimposed of stream | 5 6 | 2 7 8 |
superimposed of stream | 7 8 | 1 2 4 |
Junction Traffic Arriving Rate | I-FCFS | R-FCFS | R-MM |
---|---|---|---|
800 veh/h | 8.55 | 5.13 | 7.16 |
1200 veh/h | 11.53 | 8.75 | 11.32 |
1600 veh/h | 18.01 | 8.94 | 13.54 |
2000 veh/h | 28.34 | 16.86 | 30.9 |
2400 veh/h | 59.70 | 50.29 | 62.21 |
2800 veh/h | 82.59 | 51.84 | 70.12 |
3200 veh/h | 83.11 | 78.87 | 93.17 |
3600 veh/h | 132.01 | 128.06 | 130.33 |
4000 veh/h | 250.92 | 201.00 | 208.92 |
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Wu, Y.; Zhu, F. Junction Management for Connected and Automated Vehicles: Intersection or Roundabout? Sustainability 2021, 13, 9482. https://doi.org/10.3390/su13169482
Wu Y, Zhu F. Junction Management for Connected and Automated Vehicles: Intersection or Roundabout? Sustainability. 2021; 13(16):9482. https://doi.org/10.3390/su13169482
Chicago/Turabian StyleWu, Yuanyuan, and Feng Zhu. 2021. "Junction Management for Connected and Automated Vehicles: Intersection or Roundabout?" Sustainability 13, no. 16: 9482. https://doi.org/10.3390/su13169482
APA StyleWu, Y., & Zhu, F. (2021). Junction Management for Connected and Automated Vehicles: Intersection or Roundabout? Sustainability, 13(16), 9482. https://doi.org/10.3390/su13169482