Decentralized Optimal Merging Control for Connected and Automated Vehicles with Optimal Dynamic Resequencing

A complete solution to a decentralized optimal merging problem for Connected and Automated Vehicles (CAVs) was provided in earlier work, based on a First In First Out (FIFO) assumption over a given Control Zone (CZ). In this paper, we relax the FIFO assumption and propose a decentralized Optimal Dynamic Resequencing (ODR) algorithm to further improve the performance of all merging CAVs in terms of time and energy. Specifically, we introduce a Resequencing Zone (RZ) prior to the CZ within which every CAV can execute the ODR algorithm. We determine the latest possible time for triggering ODR so as to minimally affect the CAV's operation. Simulation results show significant ODR benefits in CAV travel times and energy consumption over the merging and main roads, outperforming earlier results under different resequencing schemes.