Portable Track-Based Connected Intersection Testing System for Connected and Automated Vehicles

Connected and automated vehicle (CAV) technology is a rapidly growing area of research as more automakers strive towards safer and greener roads through its adoption. The addition of sensor suites and vehicle-to-everything (V2X) connectivity gives CAVs an edge on predicting lead vehicle and connected intersection states, allowing them to adjust trajectory and make more fuel-efficient decisions. Optimizing the energy consumption of longitudinal control strategies is a key area of research in the CAV field as a mechanism to reduce the overall energy consumption of vehicles on the road. One such CAV feature is autonomous intersection navigation (AIN) with eco-approach and departure through signalized intersections using vehicle-to-infrastructure (V2I) connectivity. Much existing work on AIN has been tested using model-in-loop (MIL) simulation due to being safer and more accessible than on-vehicle options. To fully validate the functionality and performance of the feature, additional vehicle-in-loop (VIL) testing is still needed. Some MIL efforts have been expanded to VIL through dynamometer testing for more extensive testing, but few options exist for track-based testing. As part of the Advanced Vehicle Technology Competitions (AVTC), upwards of ten collegiate level teams compete to re-engineer the powertrain and CAV capabilities of their donated vehicles. To test the full AIN capabilities and energy consumption of these vehicles during testing events using a repeatable test setup at various testing locations, new testing methodologies are needed. This paper proposes a novel portable track-based test setup for evaluating CAVs operating through a single connected intersection. An overview of the testing system and setup are detailed alongside data from its implementation and usage at a competition event involving prototype hybrid CAVs designed by university teams. Examples of multiple team vehicles operating their unique AIN controllers to navigate through the intersection with different signal phase and timing (SPaT) variations are included. This paper presents a prototype portable intersection system that addresses concerns of repeatable and reliable testing for AIN at connected intersections. It does not focus on true energy evaluation results, rather focuses on developing a methodology to do so. As part of our future work, we will use the portable intersection setup to study energy impacts of various AIN controllers.