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In this paper we propose a distributed model predictive control architectureto coordinate the longitudinal motion of a vehicle platoon at a signalizedintersection. Our control approach is cooperative; we use vehicle-to-vehicle(V2V) communication in order to maintain small inter-vehicle distances andcorrespondingly achieve large vehicle throughput at an intersection. We studythe trade-off between safety and road throughput for this problem. Inparticular, we present the link between traffic efficiency gains in terms ofthroughput, and safety of the connected platoon measured as trust on thepredicted speed profile of other vehicles in the network.

Balancing Safety and Traffic Throughput in Cooperative Vehicle Platooning