Multi-objective Cooperative Scheduling of CAVs at Non-Signalized Intersection

The cooperative scheduling problem of connected and automated vehicles(CAVs) at the non-signalized intersection is investigated in this paper. The mathematical model of the intersection is formulated with the hierarchical layout. Based on this model, an analytical control algorithm based on Pontryagin's minimum principle (PMP) is proposed for each CAV to solve the problem of multi-objective optimization considering the multi-constraints of the vehicle. In particular, the priorities of the optimization objectives are in this order: 1)guaranteeing vehicle safety, 2)alleviating traffic congestion, and 3)improving performance of fuel consumption or ride comfort. Low computational cost of the proposed algorithm guarantees that the algorithm with consideration of vehicle constraints can obtain the optimal solution quickly and steadily. Simulation results of high-speed CAVs traveling in the intersection area verify that the proposed algorithm is capable of achieving cooperative scheduling of CAVs at the non-Signalized intersection.