Guidance Method of Connected Autonomous Vehicles Under Automatic Control Intersections

In this study, a guidance method for connected autonomous vehicles (CAVs) passing through automatic control intersections (ACI) is proposed. The approach favors a new mode of intersection control in an autonomous driving environment. Based on the modeling of automatic control intersections, the functional delineation of the approach lanes was eliminated, and a conflict resolution method for CAVs within the intersections was established considering the objectives of safety and efficiency, and pre-assignment of lanes for CAVs through ACI was realized. Based on the lane pre-assignment results to achieve space–time resource allocation among CAVs, the final passing strategy is determined and back to each CAV. The simulation results show that the method proposed in this study can ensure the safe and efficient passing of CAV through ACI.