Efficient Autonomous Intersection Access Control with Turning Traffic

Autonomous Intersection Management (AIM) is an increasingly popular paradigm, involving strategies such as platooning to reduce delays and improve efficiency overall. In this work, we propose an AIM framework that allows for turning traffic. The access control mechanism relies on an exhaustive service rule, which offers optimal performance in terms of delay. The mechanism also naturally organises vehicles into platoons simultaneously, thereby reaping platooning-related benefits. We consider two optimisation criteria for vehicle trajectories based on capacity and energy efficiency respectively. Lastly, we demonstrate that our framework readily extends to a network setting, by implementing it on a two-intersection network.