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...

Coordination Strategies of Connected and Automated Vehicles near On-ramp Bottlenecks on Motorways

The aim of the thesis is to design coordination strategies for connected automated vehicles near on-ramps considering controller performance, safe lane changing conditions, maneuver planning, and trajectory control. CAVs have enhanced situation awareness with their onboard detection units and vehicle-to-everything communications. They have the...

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...