Joint Time and Energy-Optimal Control of Connected Automated Vehicles at Signal-Free Intersections with Speed-Dependent Safety Guarantees

arXiv1903.05692MaRDI QIDQ6315554FDOQ6315554

Publication date: 13 March 2019

Abstract: We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in a decentralized manner that guarantee both a speed-dependent rear-end safety constraint and a time-dependent lateral collision constraint, in addition to lower/upper bounds on speed and acceleration. Extensive simulation examples are included to illustrate this framework.

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