A speed-maximization trajectory optimization model on a reservation-based intersection control system

Abstract

Cooperative CAV crossing a reservation-based intersection is an integrated control problem that consists of the trajectory modeling and scheduling optimization. In order to achieve the best system performance in the intersection, a final speed is traditionally modeled as large as possible when reaching the intersection in the trajectory modeling level, coupled with a delay-minimization problem. However, the delay optimization problem may not find the best solution in terms of the system efficiency. This paper aims to theoretically justify the best objective function and propose an optimal integrated control model. A speed-maximization trajectory optimization model is proposed based on the queue theory. The optimization model is formulated as a discrete-time mixed integer programming model based on the trajectory analysis. Through extensive numerical simulations with platooning and turning movements, the optimization model achieves better system performance than state-of-the-art methods. The results validate the advantages of maximizing the average speed using the discrete-time trajectory modeling method.