Fog-Based Distributed Networked Control for Connected Autonomous Vehicles

Algorithm 1.

Optimal CCC strategy.

Off-line:

1: Initialize

2: for do.

3:  Calculate using

4:  Calculate using

5: end for

On-line:

1: Determine the desired states

2: Initialize

3: for =do

4:  Update

5:  Calculate using

6: end for