A Real-World Evaluation of Two Cooperative Intersection Management Approaches

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles (CAVs). Previous works on this topic have been mostly developed for completely automated traffic in a simple simulated environment. By contrast, our previously introduced planning approaches are specifically designed to handle real-world mixed traffic. The two methods are based on multiscenario prediction and graph-based reinforcement learning, respectively. This is the first study to perform evaluations in a novel mixed-traffic simulation framework as well as real-world drives with prototype CAVs in public traffic. The simulation features the same connected automated driving software stack as deployed on one of the automated vehicles. Our quantitative evaluations show that cooperative maneuver planning achieves a substantial reduction in crossing times and the number of stops. In a realistic environment with few automated vehicles, there are noticeable efficiency gains with only slightly increasing criticality metrics.