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 |
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Title of host publication | 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
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 |
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ISSN | 2153-0009 |
Conference
Title | 26th IEEE International Conference on Intelligent Transportation Systems |
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Subtitle | Towards a New Era of Human-aware, Human-interactive, and Human-friendly ITS |
Abbreviated title | 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 |
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