Abstract:  A cooperated control method of signal and vehicle trajectory was proposed for isolate signal intersection based on the technologies of cooperative vehicle and infrastructure system (CVIS) and autonomous vehicle (AV) to improve the traffic efficiency and reduce the stop times of vehicles at the signal intersection under the autonomous vehicle environment. The method was simulated using the multi-agent technology. The signals in this control method were optimized according to the information of AVs, such as position, speed, etc. The optimized signal-timing plan was used to control trajectories of AVs. A multi-agent simulation environment was developed by NETLOGO, by which simulation experiments were conducted. The results indicate that this control method reduces about 53.4% travel time and 61.5% stop times of vehicles compared with traditional signal control strategy. Therefore, the method improves traffic efficiency and reducts stop-times.

Key words:  autonomous vehicles (AV), cooperative vehicle infrastructure system (CVIS), trajectory control, intersection signal optimization, Cooperated control of signal and trajectory, multi-agent simulation