Cooperative Platooning with Mixed Traffic on Urban Arterial Roads

Zeyu Mu, Zheng Chen, Seunghan Ryu, S. Avedisov, Rui Guo, B. Park
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引用次数: 3

Abstract

In this paper, we showcase a framework for cooperative mixed traffic platooning that allows the platooning vehicles to realize multiple benefits from using vehicle-to-everything (V2X) communications and advanced controls on urban arterial roads. A mixed traffic platoon, in general, can be formulated by a lead and ego connected automated vehicles (CAVs) with one or more unconnected human-driven vehicles (UHVs) in between. As this platoon approaches an intersection, the lead vehicle uses signal phase and timing (SPaT) messages from the connected intersection to optimize its trajectory for travel time and energy efficiency as it passes through the intersection. These benefits carry over to the UHVs and the ego vehicle as they follow the lead vehicle. The ego vehicle then uses information from the lead vehicle received through basic safety messages (BSMs) to further optimize its safety, driving comfort, and energy consumption. This is accomplished by the recently designed cooperative adaptive cruise control with unconnected vehicles (CACCu). The performance benefits of our framework are proven and demonstrated by simulations using real-world platooning data from the CACC Field Operation Test (FOT) Dataset from the Netherlands.
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城市主干道混合交通协同队列
在本文中,我们展示了一个用于协作混合交通队列的框架,该框架允许队列车辆通过在城市主干道上使用车对一切(V2X)通信和先进控制来实现多重利益。一般来说,混合交通排可以由一辆自动驾驶汽车(cav)和一辆或多辆无人驾驶汽车(uhv)组成。当车队接近一个十字路口时,领头的车辆使用来自相连的十字路口的信号相位和定时(spit)信息,以优化其通过十字路口时的行驶时间和能源效率。这些好处延续到uhv和自我飞行器,因为它们跟随先导飞行器。然后,自我车辆使用通过基本安全信息(BSMs)接收到的领先车辆的信息,进一步优化其安全性、驾驶舒适性和能耗。这是通过最近设计的与非连接车辆(CACCu)的合作自适应巡航控制来实现的。通过使用来自荷兰CACC现场操作测试(FOT)数据集的真实队列数据进行模拟,证明了我们框架的性能优势。
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