2016/08/15 by Yue Zhang, Zhang, Yue, Christos G. Cassandras +3
Engineering · #Autonomous Vehicle Technology and Safety #FOS: Mathematics #Optimization and Control (math.OC) #Traffic control and management #Vehicular Ad Hoc Networks (VANETs)
paper · pdf · doi:10.48550/arxiv.1608.04311
openalex publication_date 2016/08/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A solution, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. We establish the conditions under which such solutions exist and show that they can be enforced through an appropriately designed feasibility enforcement zone that precedes the control zone. The proposed solution and overall control architecture are illustrated through simulation.