A typical urban signalized intersection poses significant modeling and control challenges in a mixed traffic environment consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we address the problem of deriving safe trajectories for CAVs in a mixed traffic environment that prioritizes rear-end collision avoidance when the preceding HDVs approach the yellow and red signal phases of the intersection. We present a predictive control framework that employs a recursive least squares algorithm to approximate in real time the driving behavior of the preceding HDVs and then uses this approximation to derive safety-aware trajectory in a finite horizon. We validate the effectiveness of our proposed framework through numerical simulation and analyze the robustness of the control framework.
@article{arxiv.2203.05739,
title = {Safety-Aware and Data-Driven Predictive Control for Connected Automated Vehicles at a Mixed Traffic Signalized Intersection},
author = {A M Ishtiaque Mahbub and Viet-Anh Le and Andreas A. Malikopoulos},
journal= {arXiv preprint arXiv:2203.05739},
year = {2022}
}