Coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. This paper proposes a formation control method for multiple Connected and Automated Vehicles (CAVs) on multi-lane roads. A bi-level planning framework is proposed to smoothly and effectively switch the structure of the formation in different scenarios. The relative coordinate system is established and the conflict-free relative paths are planned in the upper level. Multi-stage trajectory planning and tracking are performed in the lower level. Case study is conducted to verify the function of the proposed method and simulation in the lane-drop bottleneck scenario is carried out under different traffic volume. Numerical results indicate that the proposed method can improve traffic efficiency at high traffic volume.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Formation Control for Multiple Connected and Automated Vehicles on Multi-lane Roads


    Beteiligte:
    Cai, Mengchi (Autor:in) / Xu, Qing (Autor:in) / Chen, Chaoyi (Autor:in) / Wang, Jiawei (Autor:in) / Li, Keqiang (Autor:in) / Wang, Jianqiang (Autor:in) / Zhu, Qianying (Autor:in)


    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    1892773 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Eco-Driving Control of Connected and Automated Hybrid Electric Vehicles on Multi-lane Roads Using Model Predictive Control

    Khosravinia, Kavian / Wang, Siyang / Lin, Xianke | British Library Conference Proceedings | 2021


    MULTI-LANE FORMATION ASSIGNMENT AND CONTROL FOR CONNECTED VEHICLES

    Cai, Mengchi / Xu, Qing / Li, Keqiang et al. | British Library Conference Proceedings | 2019