Collaborative Control of Multiple Intersection Signals and Vehicle Trajectory Planning Considering Communication Delay of Connected and Autonomous Vehicles

This paper introduces a collaborative control approach for Connected and Autonomous Vehicles (CAVs) considering communication delay. It enhances the Intelligent Driver Model to account for CAV communication delays and proposes a vehicle-to-infrastructure speed control algorithm to minimize delays. Employing Webster’s timing method, it optimizes signal plans based on CAV arrivals, enhancing intersection efficiency. The study extends green-wave control across multiple intersections to maximize network traffic throughput. Using data from Foshan City in China in SUMO simulations, it validates the method, finding a slight reduction in vehicles passing intersections due to CAV communication delays. Nonetheless, the proposed approach effectively reduces queued vehicles per cycle, minimizes delays, and enhances transportation system performance.