This paper presents a hierarchical control architecture to coordinate a group of connected vehicles on signalized intersection roads, where vehicles are allowed to change lane to follow a prescribed path. The proposed hierarchical control strategy consists of two control levels: a high level controller at the intersection and a decentralized low level controller in each car. In the hierarchical control architecture, the centralized intersection controller estimates the target velocity for each approaching connected vehicle to avoid red light stop based on the signal phase and timing (SPAT) information. Each connected vehicle as a decentralized controller utilizes model predictive control (MPC) to track the target velocity in a fuel efficient manner. The main objective in this paper is to consider mandatory lane changes. As in the realistic scenarios, vehicles are not required to drive in single lane. More specifically, they more likely change their lanes prior to signals. Hence, the vehicle decentralized controllers must prepare to cooperate with the vehicle that has a mandatory lane change request (host vehicle). The cooperative mandatory lane change is accomplished by inserting a virtual vehicle on the host vehicle’s target lane. The simulation results show the advantage of our proposed approach on both the lane change duration and vehicle fuel economy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative Mandatory Lane Change for Connected Vehicles on Signalized Intersection Roads


    Additional title:

    Sae Technical Papers


    Contributors:
    Xu, Bin (author) / Pisu, Pierluigi (author) / Du, Zhiyuan (author)

    Conference:

    WCX SAE World Congress Experience ; 2020



    Publication date :

    2020-04-14




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Cooperative Mandatory Lane Change for Connected Vehicles on Signalized Intersection Roads

    Du, Zhiyuan / Xu, Bin / Pisu, Pierluigi | British Library Conference Proceedings | 2020


    Cooperative Mandatory Lane Change for Connected Vehicles on Signalized Intersection Roads

    Du, Zhiyuan / Xu, Bin / Pisu, Pierluigi | British Library Conference Proceedings | 2020


    Lane Change Behavior at Weaving Section of Signalized Intersection Upstream

    Yun, Meiping / Ji, Jing / Chen, Zhenhuan | ASCE | 2013


    Efficient Mandatory Lane Changing of Connected and Autonomous Vehicles

    Lin, Shang-Chien / Kung, Chia-Chu / Lin, Lee et al. | IEEE | 2021