Sequencing-Enabled Hierarchical Cooperative On-Ramp Merging Control for Connected and Automated Vehicles
Research output: Contribution to book/Conference proceedings/Anthology/Report › Conference contribution › Contributed › peer-review
Contributors
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
| Original language | English |
|---|---|
| Title of host publication | 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Pages | 5146-5153 |
| Number of pages | 8 |
| ISBN (electronic) | 9798350399462 |
| Publication status | Published - 2023 |
| Peer-reviewed | Yes |
Publication series
| Series | IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC |
|---|---|
| ISSN | 2153-0009 |
Conference
| Title | 26th IEEE International Conference on Intelligent Transportation Systems |
|---|---|
| Subtitle | Towards a New Era of Human-aware, Human-interactive, and Human-friendly ITS |
| Abbreviated title | IEEE ITSC 2023 |
| Conference number | 26 |
| Duration | 24 - 28 September 2023 |
| Website | |
| Location | Euskalduna Conference Centre |
| City | Bilbao |
| Country | Spain |
External IDs
| ORCID | /0000-0001-6555-5558/work/171064784 |
|---|