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

Algorithm 2

Pseudocode of the unconstrained objective function procedure. The procedure computes the fitness value of the objective function that corresponds to a candidate solution of the unconstrained optimization problem.

	Procedure: unconstrained objective function
	Inputs:
	Outputs:
(1)
(2)
(3)
(4)
(5)
(6)
(7)	if then
(8)
(9)
(10)	else
(11)
(12)
(13)	end if
(14)	if then
(15)
(16)	else
(17)
(18)	end if
(19)
(20)