Modeling Results of Trajectory Planning in an Intersection Crossing Scenario with a Connected Autonomous Electric Bus and Multiple Human-Driven Vehicles

Paper in proceeding, 2026

This paper presents several modeling results in the context of an intersection crossing scenario involving a Connected Autonomous Electric Bus (CAEB) and several Human-Driven Vehicles (HDVs). The dynamic models of the CAEV and the HDVs are given considering that the movement is in a straight line and using three lanes of the road. The trajectory planning of the CAEB is performed at the level of road segments in discrete time. An objective function is defined so that it can be minimized in an appropriate optimization problem, which aims to reduce the energy consumption of the CAEB and the comfort of the passengers by forcing the CAEB to be as close as possible to the center lane. The trajectory planning produces reference inputs to be used by the controllers, which must then be designed to ensure trajectory tracking. Simulation results are presented, compared, and discussed.