research-article

Roadrunner+: An Autonomous Intersection Management Cooperating with Connected Autonomous Vehicles and Pedestrians with Spillback Considered

Authors:

Michael I.-C. Wang,

Charles H.-P. Wen,

H. Jonathan ChaoAuthors Info & Claims

ACM Transactions on Cyber-Physical Systems (TCPS), Volume 6, Issue 1

Article No.: 5, Pages 1 - 29

https://doi.org/10.1145/3488246

Published: 23 November 2021 Publication History

Abstract

The recent emergence of Connected Autonomous Vehicles (CAVs) enables the Autonomous Intersection Management (AIM) system, replacing traffic signals and human driving operations for improved safety and road efficiency. When CAVs approach an intersection, AIM schedules their intersection usage in a collision-free manner while minimizing their waiting times. In practice, however, there are pedestrian road-crossing requests and spillback problems, a blockage caused by the congestion of the downstream intersection when the traffic load exceeds the road capacity. As a result, collisions occur when CAVs ignore pedestrians or are forced to the congested road. In this article, we present a cooperative AIM system, named Roadrunner+, which simultaneously considers CAVs, pedestrians, and upstream/downstream intersections for spillback handling, collision avoidance, and efficient CAV controls. The performance of Roadrunner+ is evaluated with the SUMO microscopic simulator. Our experimental results show that Roadrunner+ has 15.16% higher throughput than other AIM systems and 102.53% higher throughput than traditional traffic signals. Roadrunner+ also reduces 75.62% traveling delay compared to other AIM systems. Moreover, the results show that CAVs in Roadrunner+ save up to 7.64% in fuel consumption, and all the collisions caused by spillback are prevented in Roadrunner+.

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Cited By

Walch MSchirrer ANeubauer M(2025)Impact assessment of cooperative intelligent transport systems (C-ITS): a structured literature reviewEuropean Transport Research Review10.1186/s12544-024-00702-917:1Online publication date: 4-Mar-2025
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Sarkar MKweon OKim BChoi DKim D(2024)Synergizing Autonomous and Traditional Vehicles: A Systematic Review of Advances and Challenges in Traffic Flow Management With Signalized IntersectionsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.345047125:12(19203-19217)Online publication date: Dec-2024
https://doi.org/10.1109/TITS.2024.3450471
Cheng XTang WYang MJin L(2024)Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP FormulationIEEE Transactions on Control Systems Technology10.1109/TCST.2024.338758832:6(2023-2036)Online publication date: Nov-2024
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Index Terms

Roadrunner+: An Autonomous Intersection Management Cooperating with Connected Autonomous Vehicles and Pedestrians with Spillback Considered
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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Published In

cover image ACM Transactions on Cyber-Physical Systems

ACM Transactions on Cyber-Physical Systems Volume 6, Issue 1

January 2022

246 pages

ISSN:2378-962X

EISSN:2378-9638

DOI:10.1145/3492453

Editor:
Chenyang Lu
Washington University in St. Louis, USA

Issue’s Table of Contents

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ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 23 November 2021

Accepted: 01 September 2021

Revised: 01 September 2021

Received: 01 February 2021

Published in TCPS Volume 6, Issue 1

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Cited By

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https://doi.org/10.1186/s12544-024-00702-9
Sarkar MKweon OKim BChoi DKim D(2024)Synergizing Autonomous and Traditional Vehicles: A Systematic Review of Advances and Challenges in Traffic Flow Management With Signalized IntersectionsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.345047125:12(19203-19217)Online publication date: Dec-2024
https://doi.org/10.1109/TITS.2024.3450471
Cheng XTang WYang MJin L(2024)Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP FormulationIEEE Transactions on Control Systems Technology10.1109/TCST.2024.338758832:6(2023-2036)Online publication date: Nov-2024
https://doi.org/10.1109/TCST.2024.3387588
Wang MWen CChao H(2024)Assessing the impact of communication delays for Autonomous Intersection Management systemsVehicular Communications10.1016/j.vehcom.2024.10082949:COnline publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1016/j.vehcom.2024.100829
Lombard ANoubli AAbbas-Turki AGaud NGalland S(2023)Deep Reinforcement Learning Approach for V2X Managed Intersections of Connected VehiclesIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2023.325386724:7(7178-7189)Online publication date: 1-Jul-2023
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Liu KZhang GChen XLiu QPeng LYurui L(2023)Android malware detection based on sensitive patternsTelecommunications Systems10.1007/s11235-022-00983-282:4(435-449)Online publication date: 20-Feb-2023
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