Empirical study of a cooperative longitudinal control for merging maneuvers considering courtesy and mixed autonomy

Abstract

This study focuses on how to improve the merge control prior to lane reduction points due to either accidents or constructions. A Cooperative longitudinal Control for Merging maneuvers (CCM) strategy based on Automated Vehicles (AV) is proposed considering cooperation among vehicles, courtesy, and the coexistence of AV and Human-Driven Vehicles (HDV). CCM introduces a modified/generalized Cooperative Adaptive Cruise Control (CACC) for vehicle longitudinal control prior to lane reduction points. It also takes courtesy into account to ensure that AV behave responsibly and ethically. CCM is evaluated using microscopic traffic simulation and compared with no control and CACC merge strategies. The results show that CCM consistently generates the lowest delays and highest throughputs approaching the theoretical capacity. Its safety benefits are also found to be significant based on vehicle trajectories and density maps. CCM mainly requires vehicles to have automated longitudinal (such as Adaptive Cruise Control (ACC)) and lane-changing control, which are already commercially available on some vehicles. Also, it does not need 100% AV penetration, presenting itself as a promising solution for improving traffic operations in lane reduction transition areas such as highway work zones.