Cooperative CAV mandatory lane-change control enabled by V2I  

作　　者：Ran Yi Yifan Yao Fan Pu Yang Zhou Xin Wang 

机构地区：[1]Department of Civil and Environmental Engineering,University of Wisconsin-Madison,Madison,WI,53706,USA Zachry Department of Civil and Environmental Engineering,Texas A&M University,College Station,TX,77840,USA Department of Industrial and Systems Engineering,University of Wisconsin-Madison,Madison,WI,53706,USA

出　　处：《Communications in Transportation Research》2024年第1期148-162,共15页交通研究通讯(英文)

基　　金：Texas A&M Institute of Data Science Career Initiation Fellow Award.

摘　　要：This paper presents a spatially formulated cooperative dynamic mandatory connected automated vehicle(CAV)lane-changing and car-following approach on curved highways with the assistance of vehicle-to-infrastructure(V2I)and vehicle-to-vehicle(V2V)communication.This work proposes mandatory lane-changing control in a spatial domain to accomplish car-following and lane-changing efficiency in a systematic manner.This control technique initially creates a virtual CAV car-following lane by assigning CAVs sequential numbers based on their spatial position.On this basis,a multi-objective model predictive control(MPC)strategy in the spatial domain is designed to optimize the trajectories in a rolling horizon fashion in order to maintain the inter-vehicle spacing and speed difference while simultaneously satisfying collision avoidances,traffic regulations,and vehicle kinematics constraints.Multi-scenario numerical simulations are conducted to validate the control efficacy of our technique.

关 键 词：CAV control V2I-Enabled control Lane-change control Spatial domain formulation 

分 类 号：S85[农业科学—兽医学]