Autonomous Intersection Management for Connected and Automated Vehicles: A Lane-Based Method

Wei Wu, Yang Liu, Wei Liu, Fangni Zhang, Vinayak Dixit, S. Travis Waller

Research output: Journal article publicationJournal articleAcademic researchpeer-review

9 Citations (Scopus)


Most existing studies on autonomous intersection management (AIM) often focus on algorithms to accommodate conflicts among vehicles by assuming that the entrance lane and the exit lane of vehicles are exogenous inputs. This paper shows that allowing entrance lanes and exit lanes to be optimized can significantly improve traffic efficiency. In particular, this paper proposes ``all-direction'' lanes, where left-turn, through, and right-turn traffic is all allowed at the same lane. We develop two methods for optimizing entering time (i.e., when to enter the intersection) and route choice decisions (i.e., entrance lane and exit lane), including the sliding-time-window-based global optimum (GO-STW) and the first-come-first-served method with optimal route choices (FCFS-R). The developed lane-based methods can be formulated as mixed integer linear programming (MILP) problems, which can be solved using the CPLEX solver. A heuristic is further adopted to solve the MILP model in a timely manner, which illustrates the potential real-time applicability of the proposed method. Numerical analysis is conducted to examine performance and effectiveness of the proposed methods and heuristic. We found that the optimization of lane/route choices is often more critical than entering time.

Original languageEnglish
Pages (from-to)15091-15106
Number of pages16
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number9
Publication statusPublished - Sept 2022


  • Autonomous intersection
  • connected and autonomous vehicles
  • lane-based method
  • sliding time window.

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications


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