Learning to Control and Coordinate Mixed Traffic Through Robot Vehicles at Complex and Unsignalized Intersections

Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as traffic lights. Recently, various control and coordination mechanisms that are beyond traditional control methods have been proposed to improve the efficiency of intersection traffic by leveraging the ability of autonomous vehicles. Amongst these methods, the control of foreseeable mixed traffic that consists of human-driven vehicles (HVs) and robot vehicles (RVs) has emerged. We propose a decentralized multi-agent reinforcement learning approach for the control and coordination of mixed traffic by RVs at real-world, complex intersections -- an open challenge to date. We design comprehensive experiments to evaluate the effectiveness, robustness, generalizablility, and adaptability of our approach. In particular, our method can prevent congestion formation via merely 5% RVs under a real-world traffic demand of 700 vehicles per hour. In contrast, without RVs, congestion will form when the traffic demand reaches as low as 200 vehicles per hour. Moreover, when the RV penetration rate exceeds 60%, our method starts to outperform traffic signal control in terms of the average waiting time of all vehicles. Our method is not only robust against blackout events, sudden RV percentage drops, and V2V communication error, but also enjoys excellent generalizablility, evidenced by its successful deployment in five unseen intersections. Lastly, our method performs well under various traffic rules, demonstrating its adaptability to diverse scenarios. Videos and code of our work are available at https://sites.google.com/view/mixedtrafficcontrol