Optimal Driving Examples

All of the computations use the following parameters:

• Max allowed distance: \(\bar{d} = 100\) m
• Traffic light location: \(d_{\ell} = 0\) m
• Target location: \(d^* = -100\) m
• Max allowed velocity: \(\bar{v} = 45\) mph \(\approx 20.12 m/s\)
• Min allowed velocity: \(v = 0\) mph
• Min acceleration: \(-\alpha = -3.8\) m/s/s
• Max acceleration: \(\beta = +3.8\) m/s/s
• Yellow light duration: \(D_Y = 3\) s
• Red light duration: \(D_R = 60\) s

We conduct all of our examples / experiments on a \(345 \times 181\) grid in \((d,v)\) space.