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Most recent studies on establishing intersection safety focus on thesituation where all vehicles are fully autonomous. However, currently mostvehicles are human-driven and so we will need to transition through regimesfeaturing a varying proportion of human-driven vehicles ranging from 100\% to0\% before realizing such a fully autonomous future -- if ever. We will,therefore, need to address the safety of hybrid systems featuring an arbitrarymixture of human-driven and autonomous vehicles. In fact, recent incidentsinvolving autonomous vehicles have already highlighted the need to study thesafety of autonomous vehicles co-existing with human-driven vehicles. Motivatedby this we address the design of provably safe intersection management formixed traffic consisting of a mix of human-driven vehicles (HVs) as well asautonomous vehicles (AVs).  To analyze such mixed traffic, we model HVs as nearsighted and withrelatively loose constraints, permitting worst-case behavior while AVs areconsidered as capable of following much tighter constraints. HVs are allowedfreedom to change their speed at any time while AVs are only allowed to changetheir speed beginning of a time slot through a Model Predictive Controller(MPC). AVs are assumed to possess a shorter response time and stronger brakingcapability than HVs in collision avoidance. Moreover, AVs obtain thepermissions of passing through the intersection throughvehicle-to-infrastructure (V2I) communication, while HVs achieve the sameobjective by following traffic lights.  Taking the above differences into consideration, we propose a provably safeintersection management for mixed traffic comprised of an MPC-based protocolfor AVs along with a coordination protocol for traffic lights...

Safe Intersection Management for Mixed Transportation Systems with Human-Driven and Autonomous Vehicles