自主路口管理：最优轨迹和高效调度（英文版）

Intersections are at the core of congestion in urban areas. After the end of the Second WorldWar, the problem of intersection management has benefited from a growing body of advances toaddress the optimization of the traffic lights’ phase splits, timing, and offset. These contributionshave significantly improved traffic safety and efficiency in urban areas. However, with the growthof transportation demand and motorization, traffic lights show their limits. At the end of the 1990sthe perspect