Multi-Scale Model-Based Hierarchical Control of Freeway Traffic via Platoons of Connected and Automated Vehicles

Abstract

In this paper a novel hierarchical multi-level control scheme is proposed for freeway traffic systems. Relying on a coupled PDE-ODE nominal model, capturing the interaction between the macroscopic traffic flow and a platoon of connected and automated electric vehicles (CAVs) which acts as a moving bottleneck, a high-level model predictive controller (MPC) is adopted to reduce traffic congestion and vehicle fuel consumption. This controller generates, only when necessary, i.e., according to an eventtriggered control logic, the most appropriate reference values for the platoon length and velocity. The platoon is in turn controlled, in an energy efficient way, by a distributed medium-level MPC, so as to track the reference speed values for its downstream and upstream end-points provided by the high-level MPC. The mismatch between the dynamics of the CAVs forming the platoon and their nominal dynamics is tackled via the design of local low-level robust integral sliding mode controllers, which have the capability of compensating for the mismatch. In the paper, the controlled platoon of CAVs is assumed to be immersed into a realistic traffic system with traffic demand not known in advance, which differs from the nominal prediction model used by the high-level MPC.INDEX TERMS Electric vehicles, event-triggered control, optimal control, platoon control, sliding mode control, traffic control.

Comfort and Safety in Conditional Automated Driving in Dependence on Personal Driving Behavior

“…Higher rates of AVs in the future and their ability to communicate with both each other and the environment will influence the distancing behavior between vehicles as well. With the goal of traffic flow optimization for increasing fuel efficiency, platooning will enable vehicles to also maintain closer distances between each other while still ensuring safety [50]- [52].…”

Fuzzy-Based Variable Speed Limits System Under Connected Vehicle Environment: A Simulation-Based Case Study in the City of Naples

“…V ARIABLE Speed Limit (VSL) is among the most exploited Intelligent Transportation Systems (ITSs) solutions to deal with the problem of traffic congestion on freeways [1], [2]. By computing an appropriate speed limit of the mainline based on prevailing road and traffic conditions, such systems aim to mitigate traffic congestion near bottleneck areas; as a consequence, it is possible to improve both the effectiveness and safety of roads compared to adhering solely to the legal speed limit [3], [4].…”