Lane-Free Crossing of CAVs through Intersections as a Minimum-Time Optimal Control Problem

• Published in: arXiv.org
• Main Authors: Amouzadi, Mahdi, Orisatoki, Mobolaji Olawumi, Dizqah, Arash M
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 18.04.2022
• Subjects: Algorithms; Automobiles; Collision avoidance; Intersections; Time optimal control

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the CAVs to simultaneously cross an intersection in the shortes...