This study presents an optimal control strategy for connected and automated vehicles (CAVs) at unsignalized intersections. A control framework with task-decomposition is designed for the near-intersection area. Firstly, the continuous traffic flow is discretized with a proposed intersection area-division scheme. Then, vehicles in different lanes are regrouped based on longitudinal positions to establish multivehicle cooperative optimal control problems of limited vehicle number. The expected optimal trajectory in the merging zone is obtained through offline simulation, which simplifies the constraints of the optimal control problem and improves the real-time performance of the online trajectory solving. Finally, an ideal capacity model is proposed based on the transit time window of vehicle, so that the capacity of a single lane is increased to 2400veh/h. The simulation results demonstrate that the proposed strategy ensures the driving safety at the unsignalized intersection, and this strategy efficiently reduces planning time for vehicle trajectories.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Control of Connected and Automated Vehicles at Unsignalized Intersections: Discrete and Regroup


    Contributors:
    Qian, Lijun (author) / Chen, Chen (author) / Wu, Bing (author) / Xuan, Liang (author) / Wang, Tianxiang (author)


    Publication date :

    2020-06-01


    Size :

    2576654 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    On the Awareness of Connected Vehicles at Unsignalized Intersections

    Avedisov, Sergei S. / Higuchi, Takamasa / Sakr, Ahmed Hamdi et al. | IEEE | 2022



    Unsignalized Intersections

    Guerrieri, Marco / Mauro, Raffaele | Springer Verlag | 2020


    Unsignalized Intersections

    Elefteriadou, Lily | Springer Verlag | 2013