Mitsubishi Electric Research Laboratories, Inc.

Roya Firoozi

Stefano Di Cairano

Rien Quirynen

The present disclosure provides a system and a method for jointly controlling one or multiple connected autonomous vehicles (CAVs) and one or multiple manual connected vehicles (MCVs) moving to form traffic on the same or intersecting roads. The method includes collecting states of each of the CAVs, each of the MCVs, and each of traffic signs regulating the traffic, and solving a multi-variable mixed-integer problem (MIP) optimizing a cost function for values of control commands changing states of each CAV and values of control commands changing states of each of the traffic signs. The cost function is optimized subject to a motion model of each of the CAVs, subject to constraints modeling general traffic rules, subject to timing constraints, and subject to a motion model of each MCV. The method further includes transmitting the optimized values of the control commands to the corresponding CAVs and corresponding traffic signs.

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Albany, CA, United States of America

Roya Firoozi