Cooperative Motion Planning for Connected and Automated Vehicle Platoons at Unsignalized Intersections

Against the backdrop of the rapid development of computer-related technologies, Connected and Automated Vehicle (CAV) have become a hot research issue in the field of transportation science and engineering. In the field of autonomous driving, there are insufficient research on the coordinated movement of multi-vehicle formations and the coordinated passage of intersections. In this paper, we propose a multi-vehicle cooperative formation motion planning method at non-signal intersections, based on the optimal control theory, and numerically solve the optimal with complex constraints by using the computational optimal control method. The control motion planning model proposes an optimal control framework with completeness and versatility. Among them, a two-vehicle formation model is proposed, and the joint simulation experiment of AMPL and MATLAB is carried out in the scenario of four formations cooperating through the intersection without signal lights, and the simulation results are compared and analysed, and finally the formation can reasonably travel farther within a certain period of time.