Reservation-Prioritization-Based Multi-Vehicle Cooperative Control at Unsignalized Intersections Under Imperfect Communication Environments

Connected and Autonomous Vehicle (CAV) has been shown to have great potential for improving traffic performance with the help of V2X (Vehicle-to-Everything) communication, especially at unsignalized intersections. However, in practical applications, the communication environment is not ideal. Existing studies have explored the communication characteristics of CAVs in imperfect communication environments, but there is a lack of further research on multivehicle cooperative control strategies at intersections based on communication information corrections. To address these problems, this paper presents a method of reservation-prioritization-based multi-vehicle cooperative control at unsignalized intersections under imperfect communication environments. First, CAV reservation priorities are determined to increase the throughput of the intersection. Second, utilizing CAV historical driving data, information lags caused by communication delays and packet loss are compensated for through differential principles. Third, based on CAV reservation results and continuously updated communication compensation results, a rolling horizon CAV speed planning is performed by solving constrained nonlinear programming problems. The proposed method is evaluated under different traffic volumes on SUMO platform. Results show that our method significantly reduces CAV speed control errors, with average reductions of 65%, 63%, and 59% under traffic volumes of 1500 veh/h, 2400 veh/h, and 3300 veh/h, respectively, while ensuring the safety of unsignalized intersections under imperfect communication conditions, including random communication delays with an average of 200 ms and around 15% packet loss.