Name
Abstract | ||
|---|---|---|
Coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. This paper proposes a formation control method for multiple Connected and Automated Vehicles (CAVs) on multi-lane roads. A bi-level planning framework is proposed to smoothly and effectively switch the structure of the formation in different scenarios. The relative coordinate system is established and the conflict-free relative paths are planned in the upper level. Multi-stage trajectory planning and tracking are performed in the lower level. Case study is conducted to verify the function of the proposed method and simulation in the lane-drop bottleneck scenario is carried out under different traffic volume. Numerical results indicate that the proposed method can improve traffic efficiency at high traffic volume. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ITSC48978.2021.9564760 | ITSC |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mengchi Cai | 1 | 2 | 2.08 |
| Qing Xu | 2 | 6 | 3.89 |
| Chaoyi Chen | 3 | 2 | 2.42 |
| Jianqiang Wang | 4 | 1240 | 68.36 |
| Keqiang Li | 5 | 583 | 52.39 |
| Jianqiang Wang | 6 | 8 | 3.40 |
| Qianying Zhu | 7 | 0 | 0.34 |