Cooperative Control of CAVs Using Control Barrier Function at Signal-free Intersection Considering Real Environment

This study addresses the cooperative control of CAVs(Connected and Automated Vehicles) at Signal-free Intersection. The purpose is to reduce fuel consumption by crossing intersection without stopping as much as possible while ensuring safety. For this problem, We consider a two-stage control structure.The first stage is to calculate the merging time of each CAV by solving mixed integer linear programming (MILP). In the second stage, each CAV solves the optimal control problem and determines the input in time for the merging time. In this study, We propose an optimal control method using control barrier function considering more realistic scenario, and a speed regulation zone to cross the intersection at a pre-determined terminal speed. By using input corrections and trajectory tracking of speed and position, simulation results show that fuel consumption can be reduced while ensuring safety. Finally, compared to conventional research, the system achieves low fuel consumption, and demonstrating its superiority.