Conflict-point formulation of intersection control for autonomous vehicles

Reservation-based intersection controls, in which vehicles reserve space-time paths through the intersection, have the potential to make greater use of intersection capacity than traffic signals. However, the efficiency of previous microsimulations of reservations has been severely limited by a protocol that requires vehicles to request reservations and the intersection manager to accept or reject them. We propose a new protocol, AIM*, in which the intersection manager assigns reservations to vehicles, to greatly increase the optimization possibilities. Then, we present a mixed integer linear program for optimally choosing vehicle reservations under AIM*.