19. Joint optimal control of CAV platoons crossing lane-free signal-free intersections

In this video, the results of applying the proposed method to a single platoon, comprising 5 left-turning vehicles, whose initial states deviate from the ideal platoon condition, are shown. The video shows that vehicles smoothly drive and cross the intersection, elegantly turning left towards their destination. In more detail, vehicles also strive to regulate the longitudinal and lateral distances. For instance, the initial longitudinal distance between the first and second vehicles is higher than the desired value, resulting in deceleration of the first vehicle and acceleration of the second one. Moreover, except for the stronger steering needed for left turning, some small steering angles are also generated to attenuate differences in the vehicle lateral distances.

This video illustrates the results of applying the suggested approach to a total of 24 vehicles forming 6 platoons with different numbers of vehicles, some of which have antagonistic ODs. As seen, vehicles with different ODs drive towards their respective destinations simultaneously without collisions, featuring smooth and fast motion and remaining within the intersection boundaries. Also, if necessary, platoons elegantly and spontaneously split into two or even more parts, to avoid collisions and, after overcoming the collision risk, rejoin to reach the desired formation. The physical limits of control signals, i.e. acceleration and steering angle, are satisfied. Geometrical intersection data and vehicle data (dimensions, desired speeds, physical limits, etc.) are provided in the paper.