A Convex Optimal Control Framework for Autonomous Vehicle Intersection Crossing

• Published in: IEEE transactions on intelligent transportation systems Vol. 24; no. 1; pp. 163 - 177
• Main Authors: Pan, Xiao, Chen, Boli, Timotheou, Stelios, Evangelou, Simos A.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous vehicles; battery-electric vehicle; Collision avoidance; Connected and autonomous vehicles (CAVs); convex optimization; Cornering; Energy consumption; intelligent intersection management system; Mechanical power transmission; Optimal control; Optimization; Powertrain; Roads; Tightness; Traffic intersections; Traffic planning; Trajectory; Travel time; Turning; Vehicles

Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with consideration of turning maneuvers. The problem is approache...