Aiming at the problem that multi lane unsignalized intersections are prone to congestion at high traffic flow, this paper proposed a solution suitable for connected automated vehicle(CAV) at intersections, which decoupled the problem into two problems, which were sequential decision-making and distributed control. Vehicle scheduling was the key point in the scheme, which had a great impact on traffic efficiency, and the complexity of the problem was exponential. This paper proposed a decision method named queue evaluation spanning tree(QEST) to solve this problem based on queue evaluation model, and established a cost function based on traffic efficiency and vehicle delay, so as to evaluate the queue, and continuously selected the best queue, optimized the traffic sequence of vehicles at intersections and effectively improved the traffic efficiency. For the second problem, this paper proposed a distributed control framework to make vehicles pass through intersections in a predetermined order. The results show that the scheme can effectively improve the traffic efficiency and reduce vehicle delay and energy consumption at intersections with medium and high traffic flow.

[2022-06-27] Accepted Paper /doc/2022.04.0190/v1

[2022-11-05] Printed Article /doc/2022.04.0190/v2