Joint Planning of Intersection Trajectories and OD Routes under the Competition of CAV Firms

Abstract

Robotaxis have provided services to the public in some cities by different operators. There would exist connected and autonomous vehicles (CAVs) belonging to multiple firms on urban roads in the future. Each firm takes charge of its CAVs by giving the plan of origin-destination (OD) routes and intersection trajectories. It is essential to investigate firms’ interactions with each other and estimate their influence on the traffic system. The competition for limited road resources among CAV firms needs to be considered during their joint planning of intersection trajectories and OD routes. First, potential conflicts in the autonomous intersection are analyzed in detail. Next, a simulation framework is proposed to model the competition process of CAV firms. Third, two safety management strategies are designed for resolving conflicts among CAVs from different firms at intersections. Finally, some simulation experiments are accomplished in a road network with two firms. The results reveal that CAV firms’ right to vehicle route planning should not be abridged. The competition ensures the fairness of using road resources and results in only a 15% system efficiency loss in a specific strategy.