Conflict-Free Navigation Optimization at Unsignalized Intersections Using Mixed-Integer Linear Programming for Connected and Autonomous Vehicles

The advent of Connected and Autonomous Vehicles (CAVs) offers significant potential to mitigate traffic accidents and reduce congestion through advanced unsignalized intersection technologies. However, this potential also introduces substantial modeling and computational challenges. This paper establishes a Mixed Integer Linear Programming (MILP) model and a Simulated Annealing Algorithm (SAA) to solve the unsignalized intersection problem. It begins with an indepth analysis of the conflict relationships among vehicles at intersections, laying the foundation for the model. Building on this, a novel vehicle trajectory planning model is introduced, leveraging the MILP model to ensure faster and more practical trajectory calculations, meeting real-time computation requirements. Finally, this paper designs a SAA to determine the optimal vehicle passing order, enhancing both safety and efficiency at intersections. Through numerical simulations, the research verifies the efficiency of the proposed MILP model and the effectiveness of the SAA in optimizing vehicle trajectories.