Stability of the consensus in the network of multiple Autonomous Intesections Management

The Autonomous Intersection Management (AIM) is the new concept of the road transportation that combines the wireless communication technology with the autonomous vehicle. The methods of Vehicle to Infrastructure (V2I) and Infrastructure to Infrastructure (I2I) communication are used to exchange traffic information from the vehicle level, up to the network of infrastructure level. The consensus algorithm is implemented to coordinate the traffic information of multiple, autonomous intersections in order to manage the traffic at a macroscopic level. The network topology of multiple intersections is described by the Laplacian graph. The continuous and discrete time consensus is derived. The sufficient condition of the stability of the consensus in network coordination is provided.