Coordinated intersection traffic management

This paper considers the problem of coordinating the passage of vehicles through a traffic intersection with the aim of minimizing total travel time and energy consumption. The intersection manager communicates with vehicles heading towards the intersection, groups them into clusters (termed bubbles) as they appear, and determines an optimal order of passage and average velocity profiles. Vehicles in a bubble receive the corresponding profile and implement local control to avoid collision with other bubbles in the same road and within the bubble itself, and reach the intersection at the prescribed time and with the bubble occupying the intersection for no more than a prescribed duration.