Robust Centralized Vehicle Coordination Strategies at Road Intersections

Centralized vehicle coordination at road intersections is attractive in modern intelligent transportation systems (ITS) due to its high traffic throughput. However, reliable communications, computing and control are also required. In this paper, we try to present a robust centralized vehicle coordination framework, to handle the acumulated errors introduced by the control part. Reservation distance is introduced to guarantee the safety during coordination, at the cost of traffic throughput. Furthermore, we also give an optimal request interval for vehicles, since the requests from multiple vehicles may collide on the coordination node. Numerical results are provided and validate our analysis.