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We consider the problem of scaling up optimal and safe controllers forConnected and Automated Vehicles (CAVs) from a single Control Zone (CZ) arounda traffic conflict area to an entire network. The goal is to jointly minimizetravel time and energy consumption for all CAVs, while providingspeed-dependent safety guarantees within a CZ and satisfying velocity andacceleration constraints. A hierarchical modular CZ framework is developedconsisting of a lower level where decentralized controllers are used thatcombine Optimal control and Control Barrier Functions (OCBF) and a higher levelwhere a feedback flow controller is proposed to coordinate adjacent CZs. Theflow controller is parameterized by a terminal velocity constraint that servesas the interface between CZs. Simulation results show that the proposed modularcontrol zone framework outperforms a direct extension of the OCBF framework tomultiple CZs without any flow control.

Scaling up the Optimal Safe Control of Connected and Automated Vehicles to a Traffic Network: A Hierarchical Framework of Modular Control Zones