Congestion-aware heterogeneous connected automated vehicles cooperative scheduling problems at intersections

More and more vehicles are connected today via emerging connected and automated vehicle (CAV) technologies. An intriguing application of CAVs is to cross intersections without stops through cooperative scheduling by traffic control infrastructure. Nonetheless, with the increase of CAVs' requests for green, two problems will surface: (I) accommodating too many CAVs' green requests will generate severe interruptions to general traffic; (II) simple scheduling policies like first-come-first serve is inappropriate due to heterogeneous importance of CAVs. To overcome these challenges, we present a mixed-integer linear programming (MILP) formulation for congestion-aware heterogeneous CAV scheduling problems at intersections in this paper. The objective is to ensure that intensive and heterogeneous green requests by CAVs can be scheduled at intersections while the mobility of background traffic is still maintained. The MILP formulation is developed in the context of discrete space-time and phase-time networks whose variables are space-time arc choice variables with respect to individual vehicles and phase-time arc choice variables. We also build an efficient search algorithm based on the "A-D curves" for real-time applications. Three experiments are conducted to validate the proposed MILP formulation and search algorithm. The simulation-based performance evaluation for the congestion-aware CAV scheduling reveal promising results for real-world applications in the future.