Networked predictive control method of multi‐vehicle cooperative control at communication‐constrained unsignalized multi‐intersection

To reduce the degradation of multi-vehicle cooperative control performance for connected and automated vehicles caused by time-varying communication delays when edge-cloud is used centralized through vehicle to infrastructure communication, further improve traffic efficiency based on driving safety at unsignalized multi-intersection. A networked predictive method an improved model-free adaptive multi-intersection distributed scheme proposed realize under conditions system, including layer car-following layer. The objective can be calculated moving horizon prediction compact form dynamic linearization technology edge computing controller, then assigns anticipated speed each target entering intersection subsystem decoupling system into multiple subsystems. extensive numerical simulation results confirmed benefits compared benchmark methods.