Intelligent Traffic Intersection Management Using Motion Planning for Autonomous Vehicles
Abstract: With the increasing advances in the field of autonomousvehicles it is alluring to ask if a possible vehicularparadigm shift is in the near future. Maximizing road capacitywith Intelligent Traffic Intersections that communicate withautonomous vehicles could become a reality, where the needfor traffic lights and stop signs is excluded. In this paper, anAutonomous Intersection Management system is introduced thatutilizes trajectory-based prioritization and motion planning techniquesto manage traffic in an orthogonal single lane four-wayintersection. The developed system reduces the need for vehiclesto slow down or even stop before intersections, contrariwise, itlets all vehicles enter the intersection at the highest allowed speed.The proposed solution is shown to increase the capacity of intersectionscompared with contemporary intersections managedwith traffic lights.
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