Joint Time and Energy-Optimal Control of Connected Automated Vehicles at Signal-Free Intersections with Speed-Dependent Safety Guarantees

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Yue Zhang, Christos G. Cassandras

Published: 2019, Last Modified: 10 Feb 2026CDC 2019EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in a decentralized manner that guarantee both a speed-dependent rear-end safety constraint and a time-dependent lateral collision constraint, in addition to lower/upper bounds on speed and acceleration. Extensive simulation examples are included to illustrate this framework.