With the emergence and recent advancements of connected and autonomous vehicle technology, Autonomous Intersection Management (AIM) has gained more and more attention, which poses important questions related to safety has potentials in reducing delays, fuel consumption and emissions. In AIM, vehicles communicate with infrastructures and other vehicles to cooperatively cross intersections, which leads to a new non-signalized approach in pure connected and autonomous vehicle (CAV) environment. This paper introduces a time and energy-optimal lane selection algorithm for CAVs in the vicinity of intersections. With the results of lane selection, a reservation-based method is used to derive optimal schedules for vehicle crossing intersections. Numerical simulation studies show that the proposed algorithm can result in both mobility and environmental benefits for the entire traffic system.

CICTP