Today I read a paper titled “Decentralized Optimal Control for Connected and Automated Vehicles at an Intersection”
The abstract is:
In earlier work, we addressed the problem of coordinating online an increasing number of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area.
The analytical solution, however, did not consider the state and control constraints.
In this paper, we present the complete Hamiltonian analysis including state and control constraints.
In addition, we present conditions that do not allow the rear-end collision avoidance constraint to become active at any time inside the control zone.
The complete analytical solution, when it exists, allows the vehicles to cross the intersection without the use of traffic lights and under the hard constraint of collision avoidance.
The effectiveness of the proposed solution is validated through simulation in a single intersection and it is shown that coordination of CAVs can reduce significantly both fuel consumption and travel time.