Extending the decision-making process during yellow phase from human drivers to autonomous vehicles: A microsimulation study with safety considerations

One of the main factors affecting the safety of signalised intersections is the stop/go behaviour during the yellow interval. Although previous research has exhaustively examined drivers' stop/go decision-making, the expected autonomous vehicles' (AVs') stop/go behaviour has not yet been thoroughly investigated. Through a series of simulation experiments developed for conventional and autonomous vehicles using different car-following, lane-changing, lateral placement and stop/go model parameter values, we examine here whether the default VISSIM stop/go parameter values can adequately replicate the observed drivers' behaviour at the considered intersection and assess the suitability of using the currently available options, albeit referring to human drivers, to simulate the expected stop/go behaviour of AVs. We also propose a policy framework for determining the desired behaviour of AVs in yellow interval, which is integrated into an AVs logic and achieved in the last simulation to explore the effect of automation on the stop/go outcome and, hence, on the safety level of signalised intersections. Several data analysis and modeling techniques were used for the formulation of certain scenarios, including binary choice models. The default stop/go parameter values were found unfit to replicate the observed stop/go behaviour and subjected to calibration. Compared to the currently available options, the proposed AVs logic proved to produce the most accurate results, in terms of the stop/go simulation outcome. Regarding the impact of automation on the stop/go outcome, the simulation experiments showed that AVs preferred a more conservative behaviour in favor of road safety, as indicated by the significant reduction (≈15%) in the number of vehicles crossing the stop line during the yellow light and zero instances of red light violation. However, compared to the conservative drivers represented by the default stop/go parameter values, AVs preferred a more rational behaviour in favor of intersection capacity without compromising road safety.