4.7 Article

Time-Optimal Coordination for Connected and Automated Vehicles at Adjacent Intersections

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Summary: This paper presents a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios, including upper-level and lower-level optimization. The analytical solution of the lower-level optimization problem is provided, along with the formulation for the upper-level optimization with no duality gap. A geometric duality framework is proposed to derive the conditions under which the optimal solution of the upper-level optimization always exists. The effectiveness of the theoretical framework is validated through simulation.

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