Sequencing-Enabled Hierarchical Cooperative On-Ramp Merging Control for Connected and Automated Vehicles

Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/GutachtenBeitrag in KonferenzbandBeigetragenBegutachtung

Beitragende

  • Sixu Li - , Texas A&M University (Autor:in)
  • Yang Zhou - , Texas A&M University (Autor:in)
  • Xinyue Ye - , Texas A&M University (Autor:in)
  • Jiwan Jiang - , University of Wisconsin-Madison (Autor:in)
  • Meng Wang - , Professur für Verkehrsprozessautomatisierung, Technische Universität Dresden (Autor:in)

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

OriginalspracheEnglisch
Titel2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers (IEEE)
Seiten5146-5153
Seitenumfang8
ISBN (elektronisch)9798350399462
PublikationsstatusVeröffentlicht - 2023
Peer-Review-StatusJa

Publikationsreihe

ReiheIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN2153-0009

Konferenz

Titel26th IEEE International Conference on Intelligent Transportation Systems
UntertitelTowards a New Era of Human-aware, Human-interactive, and Human-friendly ITS
KurztitelIEEE ITSC 2023
Veranstaltungsnummer26
Dauer24 - 28 September 2023
Webseite
OrtEuskalduna Conference Centre
StadtBilbao
LandSpanien

Externe IDs

ORCID /0000-0001-6555-5558/work/171064784

Schlagworte