An unstructured single-layer optimization approach for flexible right-of-way allocation and cooperative trajectory planning at signalized intersections

This paper proposes an unstructured single-layer optimization approach for flexible right-of-way allocation and cooperative trajectory planning at signalized intersections. Different from methods that rely on fixed-phase designs or leading-vehicle guidance, the proposed framework models signal timing as right-of-way allocation for each inbound lane at discrete time intervals and integrates trajectory planning into a unified mixed-integer linear programming framework.

By isolating conflicting traffic flows and optimizing the coordinated release of non-conflicting vehicles, the method improves intersection throughput while maintaining safety. To enhance real-time applicability, the study further develops an iterative Benders decomposition algorithm to reduce computational cost and alleviate the negative effect of long solution times on optimization accuracy.

Recommended citation: Q. Liu, Z. Huang, Z. Sheng, and S. Chen. (2025). "An unstructured single-layer optimization approach for flexible right-of-way allocation and cooperative trajectory planning at signalized intersections." Computer-Aided Civil and Infrastructure Engineering, 40(19), 2793–2815. https://onlinelibrary.wiley.com/doi/full/10.1111/mice.13481