Intersection Control for Autonomous Vehicles Using Control Barrier Function Approach

Intersection management is one of the big challenges in traffic control. Autonomous vehicles are becoming more realistic. A lot of research efforts has been done to develop control systems for the autonomous vehicles in order to guarantee safety and reduce the average travel time and fuel Consumption while increasing the intersection throughput. This paper applies the concept of Control barrier function on a four way intersection. Several parametric studies were conducted to validate the the Control barrier function approach. Moreover, in order to evaluate the efficiency of the proposed approach , it is compared to a baseline scenario where the conventional vehicles operate under traffic lights. It shows better performance in terms of the average travel time and the intersection throughput. The average travel time is reduced by 14.91 to 15.11%. The intersection throughput is increased by almost 173%.