A closed-form optimal acceleration profile for automated vehicles is derived that includes a speed-dependent rear-end safety constraint, extending the authors' prior unconstrained and state-constrained solutions.
Model Predictive Control of Vehicles on Urban Roads for Improved Fuel Economy,
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A Closed-Form Analytical Solution for Optimal Coordination of Connected and Automated Vehicles
A closed-form optimal acceleration profile for automated vehicles is derived that includes a speed-dependent rear-end safety constraint, extending the authors' prior unconstrained and state-constrained solutions.