Latency-Robust Control of High-Speed Signal-Free Intersections

Yang Liu, Zev Nicolai-Scanio, Zhong Ping Jiang, Li Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution


High-speed signal-free intersections are a novel urban traffic operation enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we consider vehicle coordination at signal-free intersections with latency. We focus on two questions: (i) how to ensure latency-resiliency of the coordination algorithm, and (ii) how latency affects the intersection's capacity. We consider a trajectory-based model with bounded speed uncertainties. Latency leads to uncertain state observation. We propose a piecewise-linear control law that ensures safety (avoidance of interference) as long as the initial condition is safe. We also analytically quantify the throughput that the proposed control can attain in the face of latency.

Original languageEnglish (US)
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781665441971
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans


  • Signal-free intersections
  • connected and autonomous vehicles
  • robust control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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