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

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