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.


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    Title :

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


    Contributors:
    Cai, Mengchi (author) / Xu, Qing (author) / Chen, Chaoyi (author) / Wang, Jiawei (author) / Li, Keqiang (author) / Wang, Jianqiang (author) / Zhu, Qianying (author)


    Publication date :

    2021-09-19


    Size :

    1892773 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English