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In this dissertation, we address a problem of safe and efficient intersectioncrossing traffic management of autonomous and connected ground traffic. Towardthis objective, an algorithm that is called the Discrete-time occupanciestrajectory based Intersection traffic Coordination Algorithm (DICA) isproposed. All vehicles in the system are Connected and Autonomous Vehicles(CAVs) and capable of wireless Vehicle-to-Intersection communication. In theproposed framework, an intersection coordinates the motions of CAVs based ontheir proposed DTOTs to let them cross the intersection efficiently whileavoiding collisions. In case when there is a collision between vehicles' DTOTs,the intersection modifies conflicting DTOTs to avoid the collision and requestsCAVs to approach and cross the intersection according to the modified DTOTs. Wethen prove that the basic DICA is deadlock free and also starvation free. Wealso show that the basic DICA is conservative in computational complexity andimprove it by several computational approaches.  Next, we addressed the problem of evacuating emergency vehicles as quickly aspossible through autonomous and connected intersection traffic in thisdissertation. The proposed intersection control algorithm Reactive DICA aims todetermine an efficient vehicle-passing sequence which allows the emergencyvehicle to cross an intersection as soon as possible while the travel times ofother vehicles are minimally affected. When there are no emergency vehicleswithin the intersection area, the vehicles are controlled by DICA. When thereare emergency vehicles entering communication range, we prioritize emergencyvehicles through optimal ordering of vehicles. A genetic algorithm is proposedto solve the optimization problem which finds the optimal vehicle sequence thatgives the emergency vehicles the highest priority.

Safe and Efficient Intersection Control of Connected and Autonomous Intersection Traffic