Trajectory-based traffic management inside an autonomous vehicle zone

•A trajectory-based traffic management model is proposed for an exclusive AV zone.•The base model can be easily extended to include the scheduling and entry decisions.•The model is further extended to accommodate side constraints such as enforcing equity.•The model is solved by a solver and a specia...

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Bibliographic Details
Published in:Transportation research. Part B: methodological 2019-02, Vol.120, p.76-98
Main Authors: Lu, Gongyuan, Nie, Yu(Marco), Liu, Xiaobo, Li, Denghui
Format: Article
Language:English
Subjects:
Algorithms
Autonomous vehicles
Computer applications
Computing time
Constraint modelling
Horizon
Mixed integer
Mixed integer program
Production scheduling
Rolling horizon algorithm
Solvers
Traffic congestion
Traffic management
Trajectories
Trajectory-based traffic management
Vehicles
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Summary:•A trajectory-based traffic management model is proposed for an exclusive AV zone.•The base model can be easily extended to include the scheduling and entry decisions.•The model is further extended to accommodate side constraints such as enforcing equity.•The model is solved by a solver and a specialized rolling horizon algorithm.•Numerical experiments validate the proposed model and algorithm. This paper studies a trajectory-based traffic management (TTM) problem for the purpose of managing traffic in a road facility reserved exclusively for autonomous vehicles (AV). The base TTM model aims to find optimal trajectories for multiple AVs while resolving inter-vehicle conflicts in the most generic way. The model is formulated as a mixed integer program (MIP) that can be solved using off-the-shelf solvers. To improve computational efficiency, a specialized algorithm based on the rolling horizon approach is also developed. We then show that the base TTM model can be easily extended to first accommodate scheduling decisions (the TTMS model) and to further impose equity constraints (the TTMSE model). For the simplest network and homogeneous users, solutions to TTMS and TTMSE are similar, respectively, to system optimal (SO) and user equilibrium (UE) solutions of Vickrey’s bottleneck model. Numerical experiments highlight TTM’s ability to simultaneously generate optimal trajectories for multiple vehicles. They also show that, while solving TTM exactly is computationally demanding, obtaining good approximate solutions can be accomplished efficiently by the rolling horizon algorithm.
ISSN:0191-2615
1879-2367
DOI:10.1016/j.trb.2018.12.012