Research Article
Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections
Figure 6
Graphical illustration of the intersection’s reservation timetable. The timetable is a buffer that stores for each cell of the IR its occupancy information with respect to time. For an arbitrary vehicle , the preliminary feasibility search identifies the elements of the set that correspond to an unreserved trajectory at the IR using the timetable.