Modeling and control method of connected and autonomous vehicles(CAVs) in urban traffic network based on PC algorithm.

This paper studies a heuristic algorithm with Connected and Autonomous Vehicles (CAVs) navigation in the urban traffic network. The proposed Probability Collective (PC) algorithm, can help to find the optimized solution by translating the sequential decision-making problem into the stochastic deterministic formulation: firstly, the multi-vehicle collaboration model is founded and the trajectory planning problem is discussed in complex urban traffic network; and then, the coordination and integrated control method is applied at intersections in urban traffic network by PC algorithm. With the numerical experiments, the results reveal that the PC algorithm can calculate real-time feasible solutions in these scenarios, optimize the velocity of CAVs in a collision-free trajectory. The robustness of the PC algorithm with heterogeneous traffic flow will be further discussed later.