This paper proposes a bilevel optimization framework to coordinate intersection signal control and vehicle behavior in mixed traffic. The upper-level optimization centrally manages adaptive signal timing, adjusting green phase durations and introducing a white phase that allows selected vehicles to pass through the intersection during red signals to reduce idle time. The lower-level optimization provides decentralized vehicle-level control for connected and automated vehicles, optimizing their trajectories and microscopic driving behaviors as they interact with human-driven vehicles. The framework takes advantage of both signal control and conflict elimination by incorporating an integrated level and a decentralized level. Simulation results demonstrated that the proposed approach improved traffic efficiency and stability while reducing energy consumption compared with conventional signal control methods.
MuC.DuL.ZhaoX.Event Triggered Rolling Horizon Based Systematical Trajectory Planning for Merging Platoons at Mainline-Ramp Intersection. Transportation Research Part C: Emerging Technologies, Vol. 125, 2021, p. 103006.
2.
LiD.ZhuF.ChenT.WongY. D.ZhuC.WuJ.COOR-PLT: A Hierarchical Control Model for Coordinating Adaptive Platoons of Connected and Autonomous Vehicles at Signal-Free Intersections Based on Deep Reinforcement Learning. Transportation Research Part C: Emerging Technologies, Vol. 146, 2023, p. 103933.
3.
GhoshA.ParisiniT.Traffic Control in a Mixed Autonomy Scenario at Urban Intersections: An Optimal Control Approach. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 10, 2022, pp. 17325–17341.
4.
SunP.NamD.JayakrishnanR.JinW.An Eco-Driving Algorithm Based on Vehicle to Infrastructure (V2I) Communications for Signalized Intersections. Transportation Research Part C: Emerging Technologies, Vol. 144, 2022, p. 103876.
5.
BaiZ.HaoP.ShangguanW.CaiB.BarthM. J.Hybrid Reinforcement Learning-Based Eco-Driving Strategy for Connected and Automated Vehicles at Signalized Intersections. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 9, 2022, pp. 15850–15863.
6.
YuC.FengY.LiuH. X.MaW.YangX.Integrated Optimization of Traffic Signals and Vehicle Trajectories at Isolated Urban Intersections. Transportation Research Part B: Methodological, Vol. 112, 2018, pp. 89–112.
7.
HeJ.HeZ.FanB.ChenY.Optimal Location of Lane-Changing Warning Point in a Two-Lane Road Considering Different Traffic Flows. Physica A: Statistical Mechanics and its Applications, Vol. 540, 2020, p. 123000.
8.
PerrakiG.RoncoliC.PapamichailI.PapageorgiouM.Evaluation of a Model Predictive Control Framework for Motorway Traffic Involving Conventional and Automated Vehicles. Transportation Research Part C: Emerging Technologies, Vol. 92, 2018, pp. 456–471.
9.
LiM.WuX.HeX.YuG.WangY.An Eco-Driving System for Electric Vehicles with Signal Control Under V2X Environment. Transportation Research Part C: Emerging Technologies, Vol. 93, 2018, pp. 335–350.
10.
GuoQ.LiL.BanX.Urban Traffic Signal Control with Connected and Automated Vehicles: A Survey. Transportation Research Part C: Emerging Technologies, Vol. 101, 2019, pp. 313–334.
11.
MalikopoulosA. A.CassandrasC. G.ZhangY. J.A Decentralized Energy-Optimal Control Framework for Connected Automated Vehicles at Signal-Free Intersections. Automatica, Vol. 93, 2018, pp. 244–256.
12.
HeX.LiuH. X.LiuX.Optimal Vehicle Speed Trajectory on a Signalized Arterial with Consideration of Queue. Transportation Research Part C: Emerging Technologies, Vol. 61, 2015, pp. 106–120.
13.
WanN.VahidiA.LuckowA.Optimal Speed Advisory for Connected Vehicles in Arterial Roads and the Impact on Mixed Traffic. Transportation Research Part C: Emerging Technologies, Vol. 69, 2016, pp. 548–563.
14.
BhattacharyyaK.LaharotteP.-A.BurianneA.FaouziN.-E. E.Assessing Connected Vehicle’s Response to Green Light Optimal Speed Advisory from Field Operational Test and Scaling Up. IEEE Transactions on Intelligent Transportation Systems, Vol. 24, No. 6, 2023, pp. 6725–6736.
15.
YuM.LongJ.An Eco-Driving Strategy for Partially Connected Automated Vehicles at a Signalized Intersection. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 9, 2022, pp. 15780–15793.
16.
MaW.WanL.YuC.ZouL.ZhengJ.Multi-Objective Optimization of Traffic Signals Based on Vehicle Trajectory Data at Isolated Intersections. Transportation Research Part C: Emerging Technologies, Vol. 120, 2020, p. 102821.
17.
WuZ.WatersonB.Urban Intersection Management Strategies for Autonomous/Connected/Conventional Vehicle Fleet Mixtures. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 8, 2022, pp. 12084–12093.
18.
YaoZ.ZhaoB.YuanT.JiangH.JiangY.Reducing Gasoline Consumption in Mixed Connected Automated Vehicles Environment: A Joint Optimization Framework for Traffic Signals and Vehicle Trajectory. Journal of Cleaner Production, Vol. 265, 2020, p. 121836.
19.
ShabestaryS. M. A.AbdulhaiB.Adaptive Traffic Signal Control with Deep Reinforcement Learning and High Dimensional Sensory Inputs: Case Study and Comprehensive Sensitivity Analyses. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 11, 2022, pp. 20021–20035.
20.
LiorisJ.PedarsaniR.TascikaraogluF. Y.VaraiyaP.Platoons of Connected Vehicles can Double Throughput in Urban Roads. Transportation Research Part C: Emerging Technologies, Vol. 77, 2017, pp. 292–305.
21.
TanC.YangK.Privacy-Preserving Adaptive Traffic Signal Control in a Connected Vehicle Environment. Transportation Research Part C: Emerging Technologies, Vol. 158, 2024, p. 104453.
22.
LiuM.ZhaoJ.HoogendoornS.WangM.A Single-Layer Approach for Joint Optimization of Traffic Signals and Cooperative Vehicle Trajectories at Isolated Intersections. Transportation Research Part C: Emerging Technologies, Vol. 134, 2022, p. 103459.
23.
TajalliM.HajbabaieA.Traffic Signal Timing and Trajectory Optimization in a Mixed Autonomy Traffic Stream. IEEE Transactions on Intelligent Transportation Systems, Vol. 23, No. 7, 2021, pp. 6525–6538.
24.
LiD.ZhuF.WuJ.WongY. D.ChenT.Managing Mixed Traffic at Signalized Intersections: An Adaptive Signal Control and CAV Coordination System Based on Deep Reinforcement Learning. Expert Systems with Applications, Vol. 238, 2024, p. 121959.
25.
ReyD.LevinM. W.Blue Phase: Optimal Network Traffic Control for Legacy and Autonomous Vehicles. Transportation Research Part B: Methodological, Vol. 130, 2019, pp. 105–129.
26.
NiroumandR.TajalliM.HajibabaiL.HajbabaieA.Joint Optimization of Vehicle-Group Trajectory and Signal Timing: Introducing the White Phase for Mixed-Autonomy Traffic Stream. Transportation Research Part C: Emerging Technologies, Vol. 116, 2020, p. 102659.
27.
NiroumandR.HajibabaiL.HajbabaieA.White Phase Intersection Control Through Distributed Coordination: A Mobile Controller Paradigm in a Mixed Traffic Stream. IEEE Transactions on Intelligent Transportation Systems, Vol. 24, No. 3, 2023, pp. 2993–3007.
28.
WuR.JiaH.HuangQ.TianJ.GaoH.WangG.Multi-Lane Unsignalized Intersection Cooperation Strategy Considering Platoons Formation in a Mixed Connected Automated Vehicles and Connected Human-Driven Vehicles Environment. IEEE Transactions on Intelligent Transportation Systems, Vol. 25, No. 2, 2024, pp. 1569–1585.
29.
YangS.XuY.WangP.LiD.An Efficient Rolling-Horizon Approach for Cooperative Multi-Lane Platoon Formation with Undefined Configurations. IEEE Transactions on Intelligent Transportation Systems, Vol. 25, No. 12, 2024, pp. 21608–21621.
30.
ZhangY.CassandrasC. G.Decentralized Optimal Control of Connected Automated Vehicles at Signal-Free Intersections Including Comfort-Constrained Turns and Safety Guarantees. Automatica, Vol. 109, 2019, p. 108563.
31.
RaoA. V.BensonD. A.DarbyC.PattersonM. A.FrancolinC.SandersI.HuntingtonG. T.Algorithm 902. ACM Transactions on Mathematical Software, Vol. 37, No. 2, 2010, pp. 1–39.
32.
PattersonM. A.Rao. Gpops-IiA. V.ACM Transactions on Mathematical Software, Vol. 41, No. 1, 2014, pp. 1–37.
33.
QiW.MaS.FuC.An Improved Car-Following Model Considering the Influence of Multiple Preceding Vehicles in the Same and Two Adjacent Lanes. Physica A: Statistical Mechanics and its Applications, Vol. 632, 2023, p. 129356.
34.
TreiberM.HenneckeA.HelbingD.Congested Traffic States in Empirical Observations and Microscopic Simulations. Physical Review E, Vol. 62, No. 2, 2000, p. 1805.
35.
ZhengY.RanB.QuX.ZhangJ.LinY.Cooperative Lane Changing Strategies to Improve Traffic Operation and Safety Nearby Freeway Off-Ramps in a Connected and Automated Vehicles Environment. IEEE Transactions on Intelligent Transportation Systems, Vol. 21, No. 11, 2019, pp. 4605–4614.
36.
JiangZ.YuD.LuanS.ZhouH.MengF.Integrating Traffic Signal Optimization with Vehicle Microscopic Control to Reduce Energy Consumption in a Connected and Automated Vehicles Environment. Journal of Cleaner Production, Vol. 371, 2022, p. 133694.
37.
KestingA.TreiberM.HelbingD.General Lane-Changing Model MOBIL for Car-Following Models. Transportation Research Record: Journal of the Transportation Research Board. 2007. 1999: 86–94.
38.
AkcelikR.Efficiency and Drag in the Power-Based Model of Fuel Consumption. Transportation Research Part B: Methodological, Vol. 23, No. 5, 1989, pp. 376–385.
39.
KieferR. J.LeBlancD. J.FlannaganC. A.Developing an Inverse Time-to-Collision Crash Alert Timing Approach Based on Drivers’ Last-Second Braking and Steering Judgments. Accident Analysis & Prevention, Vol. 37, No. 2, 2005, pp. 295–303.
Supplementary Material
Please find the following supplemental material available below.
For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.
For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.
