A Convex Optimization Based Autonomous Intersection Control Strategy in Vehicular Cyber-Physical Systems

Vehicular Cyber Physical Systems (VCPS) are envisioned to enable novel approaches to managing and controlling future road traffic intersections. Previous efforts on autonomous intersection control (AIC) mainly focused on collisions avoidance and traffic efficiency, without considering travel experience from passengers' perspective. In this work, we design a convex optimization based AIC mechanism. In particular, we design the metric of smoothness with the objective of quantitatively capturing the quality of travel experience and transform the objective into a convex function. In addition, we linearize collision avoidance constraints by designing a schedule rule, which determines the priority of vehicles when passing through the intersection according to the travel time of individual vehicles. On this basis, we propose a new algorithm to achieve the optimal solution with low overhead. Finally, we build the simulation model and implement the algorithm for performance evaluation. Comprehensive simulation results demonstrate the superiority of the proposed algorithm.