Formation Control for Multiple Connected and Automated Vehicles on Multi-lane Roads
- Resource Type
- Conference
- Authors
- Cai, Mengchi; Xu, Qing; Chen, Chaoyi; Wang, Jiawei; Li, Keqiang; Wang, Jianqiang; Zhu, Qianying
- Source
- 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) Intelligent Transportation Systems Conference (ITSC),2021 IEEE International. :1940-1945 Sep, 2021
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Solid modeling
Trajectory planning
Roads
Conferences
Decision making
Switches
Planning
Formation Control
Connected and Automated Vehicles
Multi-lane Roads
- Language
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.