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Cooperative platoon control for a mixed traffic flow including human drive vehicles and connected and autonomous vehicles

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  • Gong, Siyuan
  • Du, Lili

Abstract

This study seeks to develop a cooperative platoon control for a platoon mixed with connected and autonomous vehicles (CAVs) and human-drive vehicles (HDVs), aiming to ensure system level traffic flow smoothness and stability as well as individual vehicles’ mobility and safety. Specifically, our study integrated/contributed the following technical approaches. First, the car-following behavior of human-drive vehicles is modeled by well-accepted Newell car-following models. Accordingly, an online curve matching algorithm is integrated to anticipate the aggregated response delay of the human-drive vehicles using real-time trajectory data. Built upon that, constrained One- or P-step MPC models are developed to control the movement of the CAV platoon upstream or downstream of the HDV platoon so that we can ensure both transient traffic smoothness and asymptotic stability of this sample mixed flow platoon, leveraging the communication and computation technologies equipped on CAVs. Considering the lack of the centralized computation facilities and severe changes of the platoon topology, this study develops a distributed algorithm to solve the MPCs according to the properties of the optimizers, such as solution uniqueness, sequentially feasibility, and nonempty interior point of the solution space. The convergence of the distributed algorithm as well as the stability of the MPC control is proved by both the theoretical analysis and the experimental study. Extensive numerical experiments based on the field data indicate that the distributed algorithm can solve the One-step and P-step MPCs efficiently. The cooperative MPC can dampen traffic oscillation propagation and stabilize the traffic flow more efficiently for the entire mixed flow platoon. Moreover, the cooperative platoon control scheme outperforms the other three control strategies, including the non-cooperative control strategy and a latest CACC strategy in literature.

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  • Gong, Siyuan & Du, Lili, 2018. "Cooperative platoon control for a mixed traffic flow including human drive vehicles and connected and autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 116(C), pages 25-61.
    • Handle: RePEc:eee:transb:v:116:y:2018:i:c:p:25-61
    DOI: 10.1016/j.trb.2018.07.005
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    References listed on IDEAS

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    Cited by:

    1. Zhang, Hanyu & Du, Lili & Shen, Jinglai, 2022. "Hybrid MPC System for Platoon based Cooperative Lane change Control Using Machine Learning Aided Distributed Optimization," Transportation Research Part B: Methodological, Elsevier, vol. 159(C), pages 104-142.
    2. Gu, Yewen & Goez, Julio C. & Mario, Guajardo & Wallace, Stein W., 2019. "Autonomous vessels: State of the art and potential opportunities in logistics," Discussion Papers 2019/6, Norwegian School of Economics, Department of Business and Management Science.
    3. Qiu, Jiahua & Du, Lili, 2023. "Cooperative trajectory control for synchronizing the movement of two connected and autonomous vehicles separated in a mixed traffic flow," Transportation Research Part B: Methodological, Elsevier, vol. 174(C).
    4. Chen, Jianzhong & Liang, Huan & Li, Jing & Xu, Zhaoxin, 2021. "A novel distributed cooperative approach for mixed platoon consisting of connected and automated vehicles and human-driven vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 573(C).
    5. Umberto Crisalli & Andrea Gemma & Marco Petrelli, 2023. "Investigating the Effects of Automated Vehicles on Large Urban Road Networks: Some Evidence from Rome," Sustainability, MDPI, vol. 15(13), pages 1-10, July.
    6. Guan, Hao & Wang, Hua & Meng, Qiang & Mak, Chin Long, 2023. "Markov chain-based traffic analysis on platooning effect among mixed semi- and fully-autonomous vehicles in a freeway lane," Transportation Research Part B: Methodological, Elsevier, vol. 173(C), pages 176-202.
    7. You, Jintao & Miao, Lixin & Zhang, Canrong & Xue, Zhaojie, 2020. "A generic model for the local container drayage problem using the emerging truck platooning operation mode," Transportation Research Part B: Methodological, Elsevier, vol. 133(C), pages 181-209.
    8. Zhou, Yang & Zhong, Xinzhi & Chen, Qian & Ahn, Soyoung & Jiang, Jiwan & Jafarsalehi, Ghazaleh, 2023. "Data-driven analysis for disturbance amplification in car-following behavior of automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 174(C).
    9. Zhang, Hanyu & Du, Lili, 2023. "Platoon-centered control for eco-driving at signalized intersection built upon hybrid MPC system, online learning and distributed optimization part II: Theoretical analysis," Transportation Research Part B: Methodological, Elsevier, vol. 172(C), pages 199-216.
    10. Wang, Jian & Lu, Lili & Peeta, Srinivas, 2022. "Real-time deployable and robust cooperative control strategy for a platoon of connected and autonomous vehicles by factoring uncertain vehicle dynamics," Transportation Research Part B: Methodological, Elsevier, vol. 163(C), pages 88-118.
    11. Chuanwei Zhang & Xibo Xue & Peilin Qin & Lingling Dong, 2023. "Research on a Speed Guidance Strategy for Mine Vehicles in Three-Fork Roadways Based on Vehicle–Road Coordination," Sustainability, MDPI, vol. 15(21), pages 1-17, October.
    12. Zhou, Yang & Wang, Meng & Ahn, Soyoung, 2019. "Distributed model predictive control approach for cooperative car-following with guaranteed local and string stability," Transportation Research Part B: Methodological, Elsevier, vol. 128(C), pages 69-86.
    13. Muhammad Azam & Sitti Asmah Hassan & Othman Che Puan, 2022. "Autonomous Vehicles in Mixed Traffic Conditions—A Bibliometric Analysis," Sustainability, MDPI, vol. 14(17), pages 1-34, August.
    14. Hatzenbühler, Jonas & Jenelius, Erik & Gidófalvi, Gyözö & Cats, Oded, 2023. "Modular vehicle routing for combined passenger and freight transport," Transportation Research Part A: Policy and Practice, Elsevier, vol. 173(C).
    15. Bowen Gong & Fanting Wang & Ciyun Lin & Dayong Wu, 2022. "Modeling HDV and CAV Mixed Traffic Flow on a Foggy Two-Lane Highway with Cellular Automata and Game Theory Model," Sustainability, MDPI, vol. 14(10), pages 1-18, May.
    16. Wu, Wei & Zhang, Fangni & Liu, Wei & Lodewijks, Gabriel, 2020. "Modelling the traffic in a mixed network with autonomous-driving expressways and non-autonomous local streets," Transportation Research Part E: Logistics and Transportation Review, Elsevier, vol. 134(C).
    17. Li, Xia & Xiao, Yuewen & Zhao, Xiaodong & Ma, Xinwei & Wang, Xintong, 2023. "Modeling mixed traffic flows of human-driving vehicles and connected and autonomous vehicles considering human drivers’ cognitive characteristics and driving behavior interaction," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 609(C).
    18. Zhou, Yang & Ahn, Soyoung, 2019. "Robust local and string stability for a decentralized car following control strategy for connected automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 125(C), pages 175-196.
    19. Wu, Yuanyuan & Wang, David Z.W. & Zhu, Feng, 2022. "Influence of CAVs platooning on intersection capacity under mixed traffic," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 593(C).
    20. Xiaoyan Wang & Xi Lin & Meng Li, 2021. "Aggregate Modeling and Equilibrium Analysis of the Crowdsourcing Market for Autonomous Vehicles," Papers 2102.07147, arXiv.org.
    21. Chen, Shukai & Wang, Hua & Meng, Qiang, 2021. "Autonomous truck scheduling for container transshipment between two seaport terminals considering platooning and speed optimization," Transportation Research Part B: Methodological, Elsevier, vol. 154(C), pages 289-315.
    22. Zhang, Hanyu & Du, Lili, 2023. "Platoon-centered control for eco-driving at signalized intersection built upon hybrid MPC system, online learning and distributed optimization part I: Modeling and solution algorithm design," Transportation Research Part B: Methodological, Elsevier, vol. 172(C), pages 174-198.
    23. Wang, Jian & Gong, Siyuan & Peeta, Srinivas & Lu, Lili, 2019. "A real-time deployable model predictive control-based cooperative platooning approach for connected and autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 128(C), pages 271-301.
    24. Wu, Fuliang & Bektaş, Tolga & Dong, Ming & Ye, Hongbo & Zhang, Dali, 2021. "Optimal driving for vehicle fuel economy under traffic speed uncertainty," Transportation Research Part B: Methodological, Elsevier, vol. 154(C), pages 175-206.
    25. Wenjing Tian & Jien Ma & Lin Qiu & Xiang Wang & Zhenzhi Lin & Chao Luo & Yao Li & Youtong Fang, 2023. "The Double Lanes Cell Transmission Model of Mixed Traffic Flow in Urban Intelligent Network," Energies, MDPI, vol. 16(7), pages 1-17, March.

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