Optimal Control of Automated Networked Vehicles Considering Double Intersections

This paper presents an optimal control scheme for connected and autonomous vehicles (CAVs) through double adjacent, multilane signal-free crossings. Poor road safety because of travel congestion is the main issue that causes road conflicts. Therefore, energy usages are being reduced and traffic flow are enhanced for these purposes. The framework consists of two planning levels. During high-level planning, each connected autonomous vehicle (CAV) calculates the best arrival time and lane selection at every junction to improve traffic flow. During the low-level planning stage, a control issue focused on optimizing energy use is defined. By resolving this problem, the optimal acceleration or deceleration for every Connected and Automated Vehicle (CAV) to traverse the intersections within the specified time determined by the upper-level planning is ascertained. This is subsequently contrasted with the baseline scenario to demonstrate the efficacy of the control method.