Yue Zhang1, Christos G. Cassandras1
10:20 - 10:40 | Wed 11 Dec | Méditerranée C12 | WeA10.2
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.