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

Research output: Contribution to book/Conference proceedings/Anthology/ReportConference contributionContributedpeer-review

Contributors

  • Sixu Li - , Texas A&M University (Author)
  • Yang Zhou - , Texas A&M University (Author)
  • Xinyue Ye - , Texas A&M University (Author)
  • Jiwan Jiang - , University of Wisconsin-Madison (Author)
  • Meng Wang - , Chair of Traffic Process Automation, TUD Dresden University of Technology (Author)

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 languageEnglish
Title of host publication2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5146-5153
Number of pages8
ISBN (electronic)9798350399462
Publication statusPublished - 2023
Peer-reviewedYes

Publication series

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

Conference

Title26th IEEE International Conference on Intelligent Transportation Systems
SubtitleTowards a New Era of Human-aware, Human-interactive, and Human-friendly ITS
Abbreviated titleITSC 2023
Conference number26
Duration24 - 28 September 2023
Website
LocationEuskalduna Conference Centre
CityBilbao
CountrySpain

External IDs

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