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Low Complexity Coordination Strategies at Multi-Lane Intersections

Appropriate traffic coordination at road intersections plays an important role in modern intelligent transportation systems (ITS). In this paper, we try to propose a low complexity and scalable intersection coordination framework based on a five-collision-set model. Aiming at the essential non-convex problem, we try to reformulate the original problem into an mixed binary integer programming (MBIP) one by proper relaxations. Furthermore, the proposed coordination strategy can be easily extended to the complicated multi-lane intersections. Numeric results verifies the feasibility and scalability of the proposed traffic coordination strategy.