Hierarchical Optimal Coordination Framework for Connected and Automated Vehicles in Multiple Intersections
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In this paper, we present a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing two interconnected intersections. We develop a hierarchical optimization framework that consists of an upper-level and a low-level problems. In the upper-level, we formulate a scheduling problem the solution of which designates the optimal time of each CAV to cross the intersections. The outcome of the upper-level scheduling problem becomes the input of the low-level problem. In particular, in the low-level, we formulate an optimal control problem the solution of which yields the optimal control input (acceleration/deceleration) of each CAV to exit the intersections at the time specified in the upper-level scheduling problem. We demonstrate the effectiveness of the proposed framework through simulation.
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