Left-turn maneuvers pose significant challenges for connected and automated vehicles (CAVs) regarding both safety and traffic efficiency, particularly at mixed traffic unsignalized intersections. This paper addresses these challenges by proposing a multiple turning exit lanes (MTEL) approach. Inspired by behaviors of human drivers observed at unsignalized intersections, the MTEL approach aimed to optimize the turning paths of left-turn vehicles by using multiple available exit lanes. Given the uncertain intentions of surrounding human-driven vehicles (HVs), the decision-making processes for left-turn CAVs were formulated as a partially observable Markov decision process (POMDP) and addressed using an adaptive belief tree (ABT) algorithm. The results demonstrate that the MTEL approach provides an effective turning strategy for left-turn CAVs. Compared to conventional fixed-path approaches, the MTEL method achieved significant improvements, including a reduction in travel time by 10.9% and stops by 49.5% across all experimental scenarios. The proposed method proved effective in identifying feasible turning paths amid mixed traffic conditions, thereby enhancing the efficiency of left-turn CAVs while maintaining safety.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Turning Motion Planning for Connected and Automated Vehicles at Unsignalized Intersections Considering Multiple Left-Turn Exit Lanes


    Additional title:

    J. Transp. Eng., Part A: Systems


    Contributors:
    Chen, Feng (author) / Zhang, Cunbao (author) / Cao, Yu (author)


    Publication date :

    2025-02-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Lengths of Left-Turn Lanes at Unsignalized Intersections

    Chakroborty, Partha | Online Contents | 1995


    Warrants for Exclusive Left Turn Lanes at Unsignalized Intersections and Driveways

    J. N. Ivans / A. W. Sadek / M. Zhou et al. | NTIS | 2009




    Left-Turn Lanes at Unsignalized Median Openings

    Y Qi / X Chen / Y Wang et al. | NTIS | 2014