A Sensitivity-Based Heuristic for Economic Optimal CAVs Coordination in Mixed Traffic at Intersections

Artikel i vetenskaplig tidskrift, 2026

This paper addresses the coordination problem of Connected and Automated Vehicles (CAVs) at unsignalized intersections in mixed traffic with Human-Driven Vehicles (HDVs). The proposed formulation targets traffic-efficient and energy-efficient objectives, while ensuring safety, thus resulting into a Mixed-Integer Nonlinear Program (MINLP), which is hardly solved in reasonable time. Hence a computationally-efficient heuristic is proposed in this paper, which relies on the predictor-corrector method from sensitivity analysis tools. We perform numerical simulations to evaluate the economic and computational performance of the proposed Sensitivity-based Heuristic (SH) against MINLP, First-Come, First-Serve (FCFS), and an Exact Heuristic (EH) and show that SH can reach close-to-economic optimal solutions while consistently being computationally fast across different mixed-traffic scenarios.