A safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environment
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Publication:6109997
Abstract: Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we develop a safety-prioritized receding horizon control framework for creating platoons of HDVs preceded by a CAV. Our framework ensures indirect control of the following HDVs by directly controlling the leading CAV given the safety constraints. The framework utilizes a data-driven prediction model that is based on the recursive least squares algorithm and the constant time headway relative velocity car-following model to predict future trajectories of human-driven vehicles. To demonstrate the efficacy of the proposed framework, we conduct numerical simulations and provide the associated scalability, robustness, and performance analyses.
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Cited in
(9)- A novel distributed cooperative approach for mixed platoon consisting of connected and automated vehicles and human-driven vehicles
- Controller design for a mixed traffic system travelling at different desired speeds
- Adaptive fault-tolerant controller and operation strategies designed for mixed vehicular platoons in the vicinity of a signalized intersection
- Traffic safety evaluation of mixed traffic flow considering the maximum platoon size of connected automated vehicles
- Defensive driving strategy for autonomous ground vehicle in mixed traffic
- A constrained optimal control framework for vehicle platoons with delayed communication
- Safe and robust data‐driven cooperative control policy for mixed vehicle platoons
- Application of dynamic desired headway based adaptive backstepping sliding mode control design to mixed traffic system
- Optimal trajectory planning meets network-level routing: integrated control framework for emerging mobility systems
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