Priority-based intersection control framework for self-driving vehicles: Agent-based model development and evaluation

Development of in-vehicle computer and sensing technology, along with short-range vehicle-to-vehicle communication has provided technological potential for large-scale deployment of self-driving vehicles. The issue of intersection control for these future self-driving vehicles is one of the emerging research issues. Contrary to some of the previous research approaches, this paper is proposing a paradigm shift based upon cooperative self-organizing control framework with end-user responsibility. Distributed vehicle intelligence has been used to calculate each vehicle´s approaching velocity. The control mechanism has been developed in an agent-based environment. Self-organizing agent´s trajectory adjustment bases upon a proposed priority principle. Testing of the system has proved its safety, user comfort, and efficiency functional requirements. Several recommendations for further research are presented.