Sequencing-Enabled Hierarchical Cooperative On-Ramp Merging Control for Connected and Automated Vehicles
Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/Gutachten › Beitrag in Konferenzband › Beigetragen › Begutachtung
Beitragende
Abstract
This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging multi-scale control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to balance the density difference between mainline and on-ramp segments while enhancing lower-level control efficiency through a mixed-integer linear programming formulation. Based on this, the lower-level control employs a longitudinal distributed model predictive controller (MPC) with a virtual car-following (CF) concept, to ensure constrained multi-objective optimality by actively generating merging gaps, ensuring safe merging and further smooth traffic. Additionally, an auxiliary lateral control is developed to maintain lane-keeping and merging smoothness while accommodating ramp geometric curvature. To validate the proposed framework, multiple numerical experiments are conducted. The results indicate that our upper-level controller significantly outperforms distance-based sequencing method. Furthermore, the results demonstrate the effectiveness of the lower-level control by rendering smooth control inputs, merging with safe spacing, and empirical local and string stability.
Details
| Originalsprache | Englisch |
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| Titel | 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 |
| Herausgeber (Verlag) | Institute of Electrical and Electronics Engineers (IEEE) |
| Seiten | 5146-5153 |
| Seitenumfang | 8 |
| ISBN (elektronisch) | 9798350399462 |
| Publikationsstatus | Veröffentlicht - 2023 |
| Peer-Review-Status | Ja |
Publikationsreihe
| Reihe | IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC |
|---|---|
| ISSN | 2153-0009 |
Konferenz
| Titel | 26th IEEE International Conference on Intelligent Transportation Systems |
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| Untertitel | Towards a New Era of Human-aware, Human-interactive, and Human-friendly ITS |
| Kurztitel | IEEE ITSC 2023 |
| Veranstaltungsnummer | 26 |
| Dauer | 24 - 28 September 2023 |
| Webseite | |
| Ort | Euskalduna Conference Centre |
| Stadt | Bilbao |
| Land | Spanien |
Externe IDs
| ORCID | /0000-0001-6555-5558/work/171064784 |
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