Automated cooperative control of multilane freeway merging areas in connected and autonomous vehicle environments

Ding, Heng; Di, Yunran; Zheng, Xiao; Bai, Hao; Zhang, Weihua

doi:10.1080/21680566.2021.1887774

Cited by 15 publications

(12 citation statements)

References 44 publications

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“…Besides, average speed, total travel time, control objectives of the operational controller, or time duration for on-ramp CAVs to accomplish merging can also be chosen as a performance indicator. The optimal merging sequences can be different accordingly [25]- [27], [29], [44], [50]. Distinguishing which performance indicators are critical in traffic management is an important research direction.…”

Section: Discussionmentioning

confidence: 99%

“…Different driving characteristics brought different optimal choices for CAVs. In [44], estimated delay time in an induction zone of mainline was minimized by instructing some upstream controlled CAVs in the rightmost main lane to change lane to the left. On-ramp CAVs joined outer mainline traffic in the merging zone by using a firstin-first-out principle.…”

Section: A Literature Reviewmentioning

confidence: 99%

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

Chen

Arem

Wang

2022

IEEE Trans. Intell. Transport. Syst.

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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 merging control approach that ensures collision-free and traffic-efficient merging through the interaction of a maneuver planner and an operational trajectory controller. The planner predicts future vehicular trajectories, including acceleration trajectories and time instants when lane changes start, in a long horizon up to 50 seconds with a linear prediction model. It establishes the optimal dynamic vehicle sequence in each lane by minimizing predicted traffic disturbances that can propagate upstream and lead to traffic breakdown. During the process, mainline vehicles may change lane to facilitate the on-ramp merging, albeit with a higher ego cost. The operational controller follows the established instructions from the planner and regulates vehicular trajectories with model predictive control in a shorter horizon of 6 seconds. The performance of the designed hierarchical cooperative merging control approach was compared to a cooperative merging method utilizing widely used first-in-first-out rule to establish merging sequences and the same operational controller to generate vehicular trajectories. Systematic comparison shows that the proposed approach consistently results in less disturbances during merging under 528 different scenarios with different traffic states, initial vehicular states, and desired time gap settings. On average, a decrease of 39.18% in disturbances was observed.

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Section: Discussionmentioning

confidence: 99%

Section: A Literature Reviewmentioning

confidence: 99%

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

Chen

Arem

Wang

2022

IEEE Trans. Intell. Transport. Syst.

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“…The study shows that the positive effect of ramp metering is no longer significant if the penetration rate of CAVs is high. In [32], the authors apply a heuristic approach to optimize multi-lane freeway merging for CAVs. They investigate a section of a two-lane freeway with an on-ramp.…”

Section: Literature Reviewmentioning

confidence: 99%

Rule-Based On-Off Traffic Control Strategy for CAVs on Motorway Networks: Assessing Cooperation Level and Driving Homogeneity

2023

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Connected and automated vehicles (CAVs) attract much attention due to their unique behavioral characteristics and the promise to transform road transport systems as we know them today. However, the behavior of such vehicles on the road is not homogeneous since each manufacturer offers different implementations. Cooperation is essential to homogenize the traffic flow of CAVs and prevent delays on congested networks with high demand. This work proposes a rule-based decentralized on-off cooperation strategy at merging locations on freeway networks using CAVs as mobile actuators. The proposed strategy handles bilateral conflicts at on-ramps between vehicles with conflicting trajectories, taking actions at the vehicle level in a lateral or longitudinal direction, to minimize the disturbance for the following vehicles. Furthermore, heterogeneity among such vehicles is assessed through different parameter distributions among CAVs to demonstrate the importance of ensuring homogeneous dynamics in the vehicle operation design. Microscopic simulation is used to demonstrate the robustness of the proposed strategy and the value of homogeneous dynamics. The results show that the average network delay time decreased by up to 46%. Homogeneous driving behavior amplifies the benefit of the cooperative strategy significantly.

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“…Despite consideration of mixed traffic situations, proposed CAVs strategies still commonly assume a one-lane main road and a one-lane merging road in their studies (e.g., [24]). In [25], a multi-lane cooperative control method minimizing the travel time of vehicles passing through the merging zone is proposed. The authors show that the method can decrease the number of stops by more than 50 % and reduce the delay time by about 70 %, under certain traffic conditions.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Merging Strategy Between Connected Autonomous Vehicles in Mixed Traffic

Andreotti¹,

Selpi

Aramrattana

2022

IEEE Open J. Intell. Transp. Syst.

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Automated cooperative control of multilane freeway merging areas in connected and autonomous vehicle environments

Cited by 15 publications

References 44 publications

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

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

Rule-Based On-Off Traffic Control Strategy for CAVs on Motorway Networks: Assessing Cooperation Level and Driving Homogeneity

Cooperative Merging Strategy Between Connected Autonomous Vehicles in Mixed Traffic

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