A Review of Connected and Automated Vehicle Platoon Merging and Splitting Operations

Li, Qianwen; Chen, Zhiwei; Li, Xiaopeng

doi:10.1109/tits.2022.3193278

Cited by 42 publications

(9 citation statements)

References 110 publications

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“…The efficiency of CAV driving at freeway interchanges may be affected or compromised by human-driven vehicles in traffic [19]. In this context, a potential solution could involve adjusting the access configurations of dedicated lanes, especially at the "turning points" where traffic flow shifts or turns.…”

Section: Related Research Studiesmentioning

confidence: 99%

Connected Automated and Human-Driven Vehicle Mixed Traffic in Urban Freeway Interchanges: Safety Analysis and Design Assumptions

Granà,

Curto,

Petralia

et al. 2024

Vehicles

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The introduction of connected automated vehicles (CAVs) on freeways raises significant challenges, particularly in interactions with human-driven vehicles, impacting traffic flow and safety. This study employs traffic microsimulation and surrogate safety assessment measures software to delve into CAV–human driver interactions, estimating potential conflicts. While previous research acknowledges that human drivers adjust their behavior when sharing the road with CAVs, the underlying reasons and the extent of associated risks are not fully understood yet. The study focuses on how CAV presence can diminish conflicts, employing surrogate safety measures and real-world mixed traffic data, and assesses the safety and performance of freeway interchange configurations in Italy and the US across diverse urban contexts. This research proposes tools for optimizing urban layouts to minimize conflicts in mixed traffic environments. Results reveal that adding auxiliary lanes enhances safety, particularly for CAVs and rear-end collisions. Along interchange ramps, an exclusive CAV stream performs similarly to human-driven ones in terms of longitudinal conflicts, but mixed traffic flows, consisting of both CAVs and human-driven vehicles, may result in more conflicts. Notably, when CAVs follow human-driven vehicles in near-identical conditions, more conflicts arise, emphasizing the complexity of CAV integration and the need for careful safety measures and roadway design considerations.

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Section: Related Research Studiesmentioning

confidence: 99%

Connected Automated and Human-Driven Vehicle Mixed Traffic in Urban Freeway Interchanges: Safety Analysis and Design Assumptions

Granà,

Curto,

Petralia

et al. 2024

Vehicles

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“…The foundation was proposed in 1993 for achieving safe and efficient platoon maneuvers, including merges, splits, and lane changes. These strategies contribute to the overall optimization of traffic flow and coordination within a connected and autonomous vehicle platoon on highways 16 .…”

Section: Literature Reviewmentioning

confidence: 99%

Ecological Cooperative Adaptive Cruise Control of Electric Vehicles Heterogeneous Platoon with two Merging Events

Luo,

Liu,

Zhou

2024

Preprint

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Vehicle platooning improves energy savings based on vehicle-to-vehicle (V2V) communication. The ecological cooperative adaptive cruise control (Eco-CACC) is implemented in platoons for merging task by using event-triggered and regrouped platoon model. The merging positions are selected in the middle and the tail of an original platoon with a two-vehicle sub-platoon. The distributed nonlinear model predictive controller (DNMPC) approach is developed to model Eco-CACC merging strategy. Performances of Eco-CACC merging strategy is modeled by leaders and predecessor-followers objectives control method for predecessor-leader following (PLF) topology. The results demonstrate that merging position located in the tail exhibits superior performances, which can be used to improve the string stability, tracking performance and communication stability.

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“…In [3], the authors introduced the conceptualization of vehicle platooning, in terms of objectives, properties, operations, and their interactions to achieve the desired action. In [4], the authors presented a recent survey regarding the key operations within a platoon consisting of multiple connected and automated vehicles (CAVs). In this context, three main platoon operations were explored: (i) platoon stabling (i.e., maintaining the platoon stable, by keeping the desired inter-vehicle distance and speed), (ii) platoon merging (i.e., grouping additional vehicles in an existing single platoon), and (iii) platoon splitting (i.e., breaking a single platoon into multiple small ones).…”

Section: Introductionmentioning

confidence: 99%

Coalitional Control Strategy for a Heterogeneous Platoon Application

Maxim,

Pauca,

Amariei

et al. 2023

Mathematics

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In this work, we propose a coalitional control solution for a multi-agent networked system. The idea is to use a flexible communication topology, in which the communication links are enabled or disabled between sub-systems, depending on their shared task. The control methodology is designed in an optimal control framework, by computing an optimal state feedback gain matrix corresponding to each communication topology. The proposed control algorithm was validated in simulation, and tested in real-time experiments using a heterogeneous vehicle platoon consisting of four mobile robots. Both simulation and experimental results illustrate the efficacy of our proposed methodology.

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A Review of Connected and Automated Vehicle Platoon Merging and Splitting Operations

Cited by 42 publications

References 110 publications

Connected Automated and Human-Driven Vehicle Mixed Traffic in Urban Freeway Interchanges: Safety Analysis and Design Assumptions

Connected Automated and Human-Driven Vehicle Mixed Traffic in Urban Freeway Interchanges: Safety Analysis and Design Assumptions

Ecological Cooperative Adaptive Cruise Control of Electric Vehicles Heterogeneous Platoon with two Merging Events

Coalitional Control Strategy for a Heterogeneous Platoon Application

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