A safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environment

卷:155

Article

关键词: AUTOMATED VEHICLES;    MODEL;   

DOI  :  10.1016/j.automatica.2023.111115

来源: SCIE

【 摘 要 】

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.& COPY; 2023 Elsevier Ltd. All rights reserved.

【 授权许可】

Free