Trajectories and Platoon-forming Algorithm for Intersections with Heterogeneous Autonomous Traffic

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, which offer tremendous potential for efficiency improvements. Platoon-forming algorithms, in which vehicles are grouped together with short inter-vehicular distances just before arriving at an intersection, seem particularly promising in this aspect. In this work, we present an intersection access control system based on platoon-forming for heterogeneous autonomous traffic. The heterogeneity of traffic arises from vehicles with different acceleration capabilities and safety constraints. We focus on obtaining computationally fast and interpretable closed-form expressions for safe and efficient vehicle trajectories enabling platoon formation and show that these trajectories are solutions to certain optimisation problems. Additionally, we conduct a numerical study to obtain approximations for intersection capacity as a result of such platoon formation.