Conditions for State and Control Constraint Activation in Coordination of Connected and Automated Vehicles

Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In earlier work, we addressed the optimal coordination of CAVs using Hamiltonian analysis. In this paper, we investigate the nature of the unconstrained problem and provide conditions under which the state and control constraints become active. We derive a closed-form analytical solution of the constrained optimization problem and evaluate the solution using numerical simulation.