An algorithm to calculate optimized coordinated trajectories of intelligent vehicles in a segment of road for any lane configuration

This paper presents a simulation algorithm to calculate optimized coordinated trajectories of intelligent vehicles in a road. The objective is to reduce travel time for each vehicle. The configuration of the road can be modelled regarding the number of lanes, direction preference and exclusivity. The calculation considers the main elements of the traffic system, such as topography of the lane, traffic rules and individual capacity of acceleration. It can deals with most traffic situations such as overtaking, obstacles, slopes, and speed reducers. An extension of the algorithm is also proposed. It improves results by providing ideal space for acceleration within a platoon, maintaining the order of priority of the vehicles in a queue. Experimental tests to evaluate the algorithm are presented.