Joint optimization of vehicle trajectories and intersection controllers with connected automated vehicles: Combined dynamic programming and shooting heuristic approach

Connected and automated vehicle (CAV) technologies offer promising solutions to challenges that face today’s transportation systems. Vehicular trajectory control and intersection controller optimization based on CAV technologies are two approaches that have significant potential to mitigate congestion, lessen the risk of crashes, reduce fuel consumption, and decrease emissions at intersections. These two approaches should be integrated into a...