Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections

Algorithm 1

Pseudocode of the PSO.

	Procedure: PSO
	Input:
	Output:
	Required: objective function
(1)	Draw randomly elements from the set .
(2)	Initialize the particles’ positions, , and fitness values, , for all .
(3)	Find based on the initial fitness values of the population.
(4)
(5)	While do
(6)	for do
(7)	▷ Update the velocity of the particle.
(8)	▷ Update the inertia weight term of the particle.
(9)	▷ Update the position of the particle.
(10)	Calculate the fitness value, , of the particle.
(11)  if then
(12)
(13)	end if
(14)	if then
(15)
(16)	end if
(17)	end for
(18)
(19)	end while