# Energy-Optimal Coordination of Connected and Automated Vehicles at Multiple Intersections

## TL;DR

This paper presents a decentralized control framework for connected and automated vehicles at multiple intersections, significantly reducing fuel consumption and travel time through an analytical solution.

## Contribution

It introduces a novel energy-efficient optimal control method with a closed-form solution for coordinated vehicle management at intersections.

## Key findings

- Fuel consumption is significantly reduced.
- Travel time is improved compared to fixed signalized intersections.
- The analytical solution is effective in simulation.

## Abstract

Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The implementation of connected and automated technologies can enable a novel computational framework for real-time control aimed at optimizing energy consumption and travel time. In this paper, we propose a decentralized energy-efficient optimal control framework for two adjacent intersections. We derive a closed-form analytical solution that includes interior boundary conditions and evaluate the effectiveness of the solution through simulation. Fuel consumption and travel time are significantly reduced compared to the baseline scenario designed with conventional fixed time signalized intersections.