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

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.