Self-Triggered Coordination Control of Connected Automated Vehicles in Traffic Networks

In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the main aim of reducing the data exchange among CAVs in the control zone and at the same to minimize the travel time and energy consumption. The safety constraints and the vehicle limitations are considered using the Control Barrier Function (CBF) framework and a self-triggered scheme is proposed using the CBF constraints. Moreover, modified CBF constraints are developed to ensure a minimum inter-event interval for the proposed self-triggered schemes. Finally, it is shown through a simulation study that the number of data exchanges among CAVs is significantly reduced using the proposed self-triggered schemes in comparison with the standard time-triggered framework.