High Throughput Dynamic Vehicle Coordination for Intersection Ground Traffic

In this paper, we address the optimal autonomous vehicle (AV) coordination problem at road intersections, which is of great importance in modern intelligent transportation systems (ITS). We first formulate it as a general collision-free traffic scheduling framework. Aiming at the dynamic characteristics of vehicles' arrival, a corresponding dynamic coordination strategy is thus proposed to achieve better quality of service (QoS), i.e., the traffic throughput and delay. The road stability is also guaranteed using the Rate Stability Theorem and Lyapunov Theorem. Provided numerical results validate our analysis and show the performance improvements achieved by the proposed framework.