This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging multi-scale control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to balance the density difference between mainline and on-ramp segments while enhancing lower-level control efficiency through a mixed-integer linear programming formulation. Based on this, the lower-level control employs a longitudinal distributed model predictive controller (MPC) with a virtual car-following (CF) concept, to ensure constrained multi-objective optimality by actively generating merging gaps, ensuring safe merging and further smooth traffic. Additionally, an auxiliary lateral control is developed to maintain lane-keeping and merging smoothness while accommodating ramp geometric curvature. To validate the proposed framework, multiple numerical experiments are conducted. The results indicate that our upper-level controller significantly outperforms distance-based sequencing method. Furthermore, the results demonstrate the effectiveness of the lower-level control by rendering smooth control inputs, merging with safe spacing, and empirical local and string stability.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Sequencing-Enabled Hierarchical Cooperative On-Ramp Merging Control for Connected and Automated Vehicles


    Contributors:
    Li, Sixu (author) / Zhou, Yang (author) / Ye, Xinyue (author) / Jiang, Jiwan (author) / Wang, Meng (author)


    Publication date :

    2023-09-24


    Size :

    1658332 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Cooperative Ramp Merging Control for Connected and Automated Vehicles

    Tianchuang, Meng / Biao, Xu / Xiaohui, Qin et al. | British Library Conference Proceedings | 2020


    Cooperative Ramp Merging Control for Connected and Automated Vehicles

    Manjiang, Hu / Jin, Huang / Tianchuang, Meng et al. | SAE Technical Papers | 2020


    Penetration effect of connected and automated vehicles on cooperative on-ramp merging

    Ding, Jishiyu / Peng, Huei / Zhang, Yi et al. | IET | 2019

    Free access

    Penetration effect of connected and automated vehicles on cooperative on‐ramp merging

    Ding, Jishiyu / Peng, Huei / Zhang, Yi et al. | Wiley | 2020

    Free access