Hierarchical Optimal Maneuver Planning and Trajectory Control at On-Ramps With Multiple Mainstream Lanes

Connected Automated Vehicles (CAVs) have the potential to improve traffic operations when they cooperatively maneuver in merging sections. State-of-the-art approaches in cooperative merging either build on heuristics solutions or prohibit mainline CAVs to change lane on multilane highways. This paper proposes a hierarchical cooperative...

Optimization of Traffic Efficiency at On-ramps with Connected Automated Vehicles

This paper aims to optimize on-ramp merging processes for connected automated vehicles by utilizing an existing hierarchical control architecture including a decision-maker and an operational controller. The decision-maker employs surrogate linear models to predict future vehicular acceleration analytically and computes a merging sequence to...

A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Gap selection and dynamic speed profiles of interacting vehicles at on-ramps affect the safety and efficiency of highway merging sections. This paper puts forward a hierarchical control approach for Connected Automated Vehicles (CAVs) to achieve efficient and safe merging operations. A tactical layer controller employs a second-order car...

A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays

Automated vehicles are designed to free drivers from driving tasks and are expected to improve traffic safety and efficiency when connected via vehicle-to-vehicle communication, that is, connected automated vehicles (CAVs). The time delays and model uncertainties in vehicle control systems pose challenges for automated driving in real world....

A Flexible Strategy for Efficient Merging Maneuvers of Connected Automated Vehicles

Merging is a challenging task for automated vehicles. This paper proposes a strategy for connected automated vehicles (CAVs) to guide merging on-ramp vehicles efficiently while ensuring safe interactions with the mainline vehicles. Point-mass kinematic models are used to describe 2-D vehicle motion and receding horizon control is used to...