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Abstract
Multiple vehicles control at an intersection is one of the most challenging scenarios in the vehicle control field due to the high number of constraints. However, regarding the control strategies of an isolated intersection, few studies have considered the longitudinal-lateral dynamics comprehensively. In the approaches that treat the turning curve as a straight line, a longitudinal dynamic model is adopted, while the lateral execution ability is ignored. The ideal decisions that ignore vehicle dynamics are not accurately executed by actual vehicles, as doing so would to be futile. In addition, due to the strong coupling and nonlinearity of the longitudinal-lateral dynamics model, the optimization problem is difficult to solve. Therefore, in this paper, a reasonable model, the simplified vehicle dynamics model coupled with longitudinal-lateral dynamics is used to describe longitudinal, lateral, and yaw motions comprehensively. Optimization of the longitudinal and late ....

Autonomous Traffic Intersection , Connected Vehicles , Distributed Control System , Mathematical Model , Odel Predictive Control Mpc , Predictive Models , Vehicle Dynamics ,