Unsignalized Intersection Vehicle Scheduling Decision Based on Real-Time Queuing Model

Unsignalized intersections are an important research area in the field of intelligent traffic systems. Traditional intersections usually rely on signals to control vehicle movement, but signal scheduling tends to lead to traffic jams and delays. Therefore, a priority queueing model is proposed which contains a vehicle scheduling policy and a lower level of planning. The vehicle scheduling policy contains the design of conflict-directed graph, and depth-first search tree algorithm to achieve collision-free scheduling of vehicles at signal-free intersections. The lower-level planning includes planning for vehicle speed and acceleration. This model is validated in a two-way two-lane intersection scenario simulation and good experimental results are obtained.