A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles
Behdad Chalaki, Andreas A. Malikopoulos
Abstract
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this letter, we first extend a decentralized framework that we developed earlier for coordination of CAVs at a signal-free intersection to incorporate replanning. Then, we further enhance the framework by introducing a priority-aware resequencing mechanism which designates the order of decision making of CAVs based on theory from the job-shop scheduling problem. Our enhanced framework relaxes the first-come-first-serve decision order which has been used extensively in these problems. We illustrate the effectiveness of our proposed approach through numerical simulations.