A Conflict Duration Graph-Based Coordination Method for Connected and Automated Vehicles at Signal-Free Intersections

Previous studies on Connected and Automated Vehicles (CAVs) demonstrated the potential to coordinate the behaviors of multiple connected vehicles for traffic improvements. In this paper, we first propose a Conflict Duration Graph-based (CDG-based) coordination framework to resolve collisions and improve the traffic capacity of signal-free intersections. Secondly, a Speed Control-based Intersection Coordination Model (SICM) is developed to …