Spatially Formulated Connected Automated Vehicle Trajectory Optimization with Infrastructure Assistance

Figure 8

CAV state and control results with the “buffer zone”: (a) lateral deviation ; (b) angular deviation ; (c) pace deviation ; (d) relative moderation ; (e) relative angular spatial change rate ; (f) acceleration; (g) speed; (h) angular deviation rate.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)