Multi-objective Optimization for Cooperative Organization of CAVs at Unsignalized Intersection

Unsignalized intersection cooperative organization problem is research focus currently. Existing methods are limitation on improving the performance of Unsignalized intersection because the traffic efficiency objective is always considered as primary goal based on bi-level optimization method that efficiency objective is optimized on first level and energy objective is optimized on second level. That is, fuel consumption objective may be local optimum under optimal traffic efficiency. In this paper, we proposed a cooperative organization system for CAVs at Unsignalized intersection considering Pareto Optimality. This system includes three part. In first part, we propose a new schedule method to determine optimal passing sequence for platoons. In second part, we proposed a multi-objective speed trajectory optimization method. In third part, we proposed a feedback control strategy. Simulation test illustrates that the proposed cooperative organization system can improve the performance of unsignalized intersection and outperforms bi-level optimization method and ASC method.