Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints

Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints

This paper presents the optimal motion planning problem for connected and automated vehicles (CAVs) to cross a conflict area at an intersection with state and control constraints. First, we formulate the scheduled merging (or crossing) time for all CAVs as a mixed integer linear programming (MILP) p...

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Bibliographic Details
Main Authors: Mohamad Hafizulazwan Mohamad Nor, Toru Namerikawa
Format: Article
Language:English
Published: Taylor & Francis Group 2020-03-01
Series:SICE Journal of Control, Measurement, and System Integration
Subjects:
connected and automated vehicles (cavs)
autonomous intersections
optimal scheduling
optimal motion planning
Online Access:http://dx.doi.org/10.9746/jcmsi.13.30

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