This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves the scheduling problem for a grid of intersections. A computational control node is allocated to each intersection and regularly receives position and velocity information from subscribed vehicles. Each node assigns an intersection access time to every subscribed vehicle by solving a local MILP. Neighboring intersections will coordinate with each other in real-time by sharing their solutions for vehicles' access times with each other. Our proposed approach is applied to a grid of nine intersections and its positive impact on traffic flow and vehicles' fuel economy is demonstrated in comparison to conventional intersection control scenarios.

中文翻译：

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基于分布式混合整数线性规划的自动驾驶汽车多路口交通管理

本文扩展了我们之前在 [1]、[2] 中关于自动驾驶车辆到达交叉路口的最佳调度的工作，从一个交叉路口到一个交叉路口网格。设计了一种可扩展的分布式混合整数线性规划 (MILP) 来解决交叉点网格的调度问题。计算控制节点被分配到每个交叉路口，并定期从订阅的车辆接收位置和速度信息。每个节点通过解决本地 MILP 为每个订阅的车辆分配一个交叉路口访问时间。相邻的交叉路口将通过彼此共享他们的车辆通行时间解决方案来实时协调。我们提出的方法应用于九个十字路口的网格及其对交通流量和车辆的积极影响