Research on Two-Stage Pedestrian Crossing Inductive Signal Control Strategy for Autonomous Intersection

Autonomous intersection management (AIM) at “signal-free” intersections under the fully Connected-Automated Vehicle (CAV) environment has become a hotspot. However, few studies show how pedestrians can cross the intersection safely with CAVs. This paper proposes a novel inductive signal control framework considering both pedestrian and CAV demands. This framework consists of two steps. In the first step, a two-stage pedestrian crossing inductive control module for autonomous signal intersections is implemented. In the second step, the CAVs’ trajectories and pedestrian crossing phases are optimised cooperatively. A Mixed Integer Linear Program (MILP) based on conflict-separation is proposed to simultaneously optimise the pedestrian crossing signal phasing scheme and the entry time for CAVs. The goal is to ensure pedestrian crossing safely while optimizing the approaching trajectories of CAVs at the intersection. Numerical experiments are conducted to evaluate the performance and effectiveness of the proposed method under different traffic scenarios. Results show that the proposed method outperforms the signal control mode for pedestrian crossing in one go in terms of reducing average delay under both under-saturated and over-saturated conditions.