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Earlier work has established a decentralized optimal control framework forcoordinating online a continuous flow of connected automated vehicles (CAVs)entering a control zone and crossing two adjacent intersections in an urbanarea. A solution, when it exists, allows the vehicles to cross theintersections without the use of traffic lights, without creating congestion onthe connecting road, and under the hard safety constraint of collisionavoidance. We establish the conditions under which such solutions exist andshow that they can be enforced through an appropriately designed feasibilityenforcement zone that precedes the control zone. The proposed solution andoverall control architecture are illustrated through simulation.

Optimal Control of Connected Automated Vehicles at Urban Traffic Intersections: A Feasibility Enforcement Analysis