Coordination of Mixed Platoons and Eco-Driving Strategy for a Signal-Free Intersection

This paper investigates the collaborative control of vehicular traffic for a signal-free intersection. The traffic under consideration is mixed with connected autonomous vehicles (CAVs) and human-piloted vehicles with advanced driver assistance systems (ADAS). The proposed collaborative control is o...

Celý popis

Uložené v:

Podrobná bibliografia
Vydané v:	IEEE transactions on intelligent transportation systems Ročník 24; číslo 6; s. 1 - 17
Hlavní autori:	Jiang, Simin, Pan, Tianlu, Zhong, Renxin, Chen, Can, Li, Xin-an, Wang, Shimin
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.06.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Advanced driver assistance systems Collaboration collaborative control Control theory Coordination Delays Driving Energy consumption Exact solutions Integer programming Linear programming Merging Merging zones Mixed integer mixed traffic Optimal control Optimization penetration rate Platooning Safety Sensitivity analysis Signal-free intersection Throughput Traffic Traffic conflicts Traffic control Traffic intersections Traffic speed Vehicle dynamics Vehicles vehicular platoon
ISSN:	1524-9050, 1558-0016
On-line prístup:	Získať plný text
Tagy:	Pridať tag Žiadne tagy, Buďte prvý, kto otaguje tento záznam!

Abstract	This paper investigates the collaborative control of vehicular traffic for a signal-free intersection. The traffic under consideration is mixed with connected autonomous vehicles (CAVs) and human-piloted vehicles with advanced driver assistance systems (ADAS). The proposed collaborative control is of two levels. At the upper level, the objective is to minimize total delay via platoon control and dynamic priority control of conflicting movements. We formulate the platoon coordination of mixed traffic as a mixed-integer linear programming problem (MILP). This MILP determines whether adjacent vehicles will form a platoon and prioritize any two conflicting movements subject to lateral safety and rear-end safety constraints. At the lower level, we propose an eco-driving strategy to minimize the energy consumption by optimizing the speed profile of the platoon leading vehicles subject to the dynamic priority control from the upper level, i.e., the entry time to the merging zone. We deduce an analytical solution to the eco-driving problem using optimal control theory. Compared with existing benchmarks, such as the first-come-first-served policy, the proposed method outperforms the state-of-the-art controllers in reducing the total delay. Sensitivity analysis regarding the penetration rate of CAVs shows that substantial improvements can be achieved even at low to medium penetration rates of CAVs.
AbstractList	This paper investigates the collaborative control of vehicular traffic for a signal-free intersection. The traffic under consideration is mixed with connected autonomous vehicles (CAVs) and human-piloted vehicles with advanced driver assistance systems (ADAS). The proposed collaborative control is of two levels. At the upper level, the objective is to minimize total delay via platoon control and dynamic priority control of conflicting movements. We formulate the platoon coordination of mixed traffic as a mixed-integer linear programming problem (MILP). This MILP determines whether adjacent vehicles will form a platoon and prioritize any two conflicting movements subject to lateral safety and rear-end safety constraints. At the lower level, we propose an eco-driving strategy to minimize the energy consumption by optimizing the speed profile of the platoon leading vehicles subject to the dynamic priority control from the upper level, i.e., the entry time to the merging zone. We deduce an analytical solution to the eco-driving problem using optimal control theory. Compared with existing benchmarks, such as the first-come-first-served policy, the proposed method outperforms the state-of-the-art controllers in reducing the total delay. Sensitivity analysis regarding the penetration rate of CAVs shows that substantial improvements can be achieved even at low to medium penetration rates of CAVs.
Author	Li, Xin-an Wang, Shimin Jiang, Simin Pan, Tianlu Zhong, Renxin Chen, Can
Author_xml	– sequence: 1 givenname: Simin orcidid: 0000-0002-9915-7678 surname: Jiang fullname: Jiang, Simin organization: School of Intelligent Systems Engineering, Guangdong Key Laboratory of Intelligent Transportation Systems, Sun Yat-sen University, Shenzhen, China – sequence: 2 givenname: Tianlu surname: Pan fullname: Pan, Tianlu organization: Peng Cheng Laboratory, Department of Network Intelligent, Shenzhen, China – sequence: 3 givenname: Renxin orcidid: 0000-0003-1559-7287 surname: Zhong fullname: Zhong, Renxin organization: School of Intelligent Systems Engineering, Guangdong Key Laboratory of Intelligent Transportation Systems, Sun Yat-sen University, Shenzhen, China – sequence: 4 givenname: Can orcidid: 0000-0003-4578-0453 surname: Chen fullname: Chen, Can organization: Department of Civil and Environmental Engineering, The Hong Kong Polytechnic University, Hong Kong, Hong Kong – sequence: 5 givenname: Xin-an orcidid: 0000-0003-0857-7472 surname: Li fullname: Li, Xin-an organization: School of Intelligent Systems Engineering, Guangdong Key Laboratory of Intelligent Transportation Systems, Sun Yat-sen University, Shenzhen, China – sequence: 6 givenname: Shimin orcidid: 0000-0002-3713-8738 surname: Wang fullname: Wang, Shimin organization: Department of Chemical Engineering, Queen's University, Kingston, Canada
BookMark	eNp9kE1PAjEQhhuDiYj-AOOliefFfu1uezQISoLRBPTalO4sKcEW28XIv3dXiAcPnmbmzbzz8Zyjng8eELqiZEgpUbeL6WI-ZISxIWeUKi5OUJ_mucwIoUWvy5nIFMnJGTpPad2qIqe0j95GIcTKedO44HGo8ZP7ggq_bEwTgk_Y-AqPbcjuo_t0foXnTTQNrPa4DhEbPHcrbzbZJALgqW8gJrDdpAt0WptNgstjHKDXyXgxesxmzw_T0d0ss0zxJjO1tZXJJV9CQagFUYpiyUHVOQWWi6Jqa86k4kUtSElFYQsjjSylFWWn8QG6OczdxvCxg9ToddjF9qSkmWSUlITIroseumwMKUWo9Ta6dxP3mhLd4dMdPt3h00d8raf847Gu-aHUEnCbf53XB6cDgN9NStH2mZJ_A8RQfi4
CODEN	ITISFG
CitedBy_id	crossref_primary_10_1016_j_ifacol_2024_07_334 crossref_primary_10_1109_TITS_2023_3346395 crossref_primary_10_1371_journal_pone_0321566 crossref_primary_10_1016_j_trc_2024_104807 crossref_primary_10_1007_s11071_025_11580_8 crossref_primary_10_1016_j_jocs_2024_102420 crossref_primary_10_1007_s42154_023_00281_w crossref_primary_10_1109_TIV_2023_3269566 crossref_primary_10_1016_j_trc_2023_104258 crossref_primary_10_1109_TITS_2023_3286441 crossref_primary_10_1109_TTE_2024_3415014 crossref_primary_10_1016_j_est_2024_111282 crossref_primary_10_1109_TITS_2024_3428389 crossref_primary_10_3390_sym17060893 crossref_primary_10_1109_ACCESS_2024_3393640 crossref_primary_10_3390_app14083498 crossref_primary_10_1016_j_tranpol_2025_05_030 crossref_primary_10_1016_j_aap_2025_107939 crossref_primary_10_1038_s41598_025_11779_0 crossref_primary_10_1109_JIOT_2025_3584583
Cites_doi	10.1109/ITSC.2013.6728436 10.1145/1082473.1082545 10.1287/trsc.2021.1060 10.23919/ACC50511.2021.9482683 10.23919/ACC45564.2020.9147842 10.1109/TITS.2016.2600504 10.1016/j.trc.2019.11.017 10.1613/jair.2502 10.1080/23249935.2019.1573858 10.1016/j.automatica.2018.03.056 10.23919/ACC.2019.8814864 10.1109/TITS.2011.2112648 10.1016/j.trc.2017.01.023 10.1016/j.trc.2021.103047 10.1016/j.trc.2019.10.002 10.1109/TITS.2019.2940641 10.1016/j.trb.2018.06.004 10.1016/j.trc.2013.08.014 10.1109/TITS.2014.2320133 10.23919/ACC.2018.8431544 10.1109/TITS.2017.2735628 10.1109/LCSYS.2018.2846182 10.1016/j.trc.2021.102987 10.1016/j.trc.2019.01.026 10.1109/TITS.2019.2925871 10.1109/TITS.2017.2750079 10.1016/j.trc.2021.103138 10.1016/j.trc.2018.02.001 10.1109/LCSYS.2021.3092188 10.1109/9.467672 10.1109/TCNS.2020.2988005 10.1109/MED54222.2022.9837281 10.1137/1.9781611973655 10.1016/j.automatica.2020.108958 10.1080/21680566.2021.1916647 10.1109/TITS.2020.3000682 10.1016/j.trc.2021.103338 10.1109/TIV.2021.3096993 10.1109/TITS.2017.2749963 10.1109/TVT.2019.2910987 10.1109/TCST.2012.2198478 10.1109/TITS.2019.2948646 10.1287/trsc.2021.1061 10.1016/j.trc.2014.09.001
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2023
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2023
DBID	97E RIA RIE AAYXX CITATION 7SC 7SP 8FD FR3 JQ2 KR7 L7M L~C L~D
DOI	10.1109/TITS.2022.3211934
DatabaseName	IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Civil Engineering Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional
DatabaseTitle	CrossRef Civil Engineering Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional
DatabaseTitleList	Civil Engineering Abstracts
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	1558-0016
EndPage	17
ExternalDocumentID	10_1109_TITS_2022_3211934 9917467
Genre	orig-research
GrantInformation_xml	– fundername: Ministry of Science and Technology of China grantid: 72071214; 62203239 – fundername: National Key Research and Development Program of China grantid: 2018YFB1600500 funderid: 10.13039/501100012166
GroupedDBID	-~X 0R~ 29I 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AIBXA AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 O9- OCL P2P PQQKQ RIA RIE RNS ZY4 AAYXX CITATION 7SC 7SP 8FD FR3 JQ2 KR7 L7M L~C L~D
ID	FETCH-LOGICAL-c293t-afccda583be601ce4746b3e9f51e2546d746328936f407146c6a8a878c4736f43
IEDL.DBID	RIE
ISICitedReferencesCount	25
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000869388900001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	1524-9050
IngestDate	Mon Jun 30 06:25:00 EDT 2025 Sat Nov 29 06:35:02 EST 2025 Tue Nov 18 22:11:17 EST 2025 Wed Aug 27 02:29:09 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	6
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c293t-afccda583be601ce4746b3e9f51e2546d746328936f407146c6a8a878c4736f43
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0003-0857-7472 0000-0003-4578-0453 0000-0003-1559-7287 0000-0002-9915-7678 0000-0002-3713-8738
PQID	2821070084
PQPubID	75735
PageCount	17
ParticipantIDs	ieee_primary_9917467 proquest_journals_2821070084 crossref_primary_10_1109_TITS_2022_3211934 crossref_citationtrail_10_1109_TITS_2022_3211934
PublicationCentury	2000
PublicationDate	2023-06-01
PublicationDateYYYYMMDD	2023-06-01
PublicationDate_xml	– month: 06 year: 2023 text: 2023-06-01 day: 01
PublicationDecade	2020
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on intelligent transportation systems
PublicationTitleAbbrev	TITS
PublicationYear	2023
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref35 ref12 ref34 ref15 ref37 ref14 ref36 ref31 ref30 ref11 ref10 ref32 ref2 ref1 ref17 ref39 ref38 ref19 ref18 Askari (ref16) 2016 ref24 ref46 ref23 ref45 ref26 ref48 ref25 ref47 ref20 ref41 ref22 ref44 ref21 ref43 Grembek (ref13) 2018 ref28 ref27 ref29 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref40 Meng (ref33) 2018 Thompson (ref42) 2005
References_xml	– ident: ref27 doi: 10.1109/ITSC.2013.6728436 – ident: ref17 doi: 10.1145/1082473.1082545 – ident: ref20 doi: 10.1287/trsc.2021.1060 – year: 2016 ident: ref16 article-title: Measuring impact of adaptive and cooperative adaptive cruise control on throughput of signalized intersections publication-title: arXiv:1611.08973 – ident: ref41 doi: 10.23919/ACC50511.2021.9482683 – ident: ref37 doi: 10.23919/ACC45564.2020.9147842 – ident: ref6 doi: 10.1109/TITS.2016.2600504 – ident: ref11 doi: 10.1016/j.trc.2019.11.017 – ident: ref18 doi: 10.1613/jair.2502 – ident: ref4 doi: 10.1080/23249935.2019.1573858 – ident: ref35 doi: 10.1016/j.automatica.2018.03.056 – ident: ref34 doi: 10.23919/ACC.2019.8814864 – volume-title: Optimal Control Theory: Applications to Management Science and Economics year: 2005 ident: ref42 – ident: ref46 doi: 10.1109/TITS.2011.2112648 – ident: ref24 doi: 10.1016/j.trc.2017.01.023 – ident: ref3 doi: 10.1016/j.trc.2021.103047 – ident: ref15 doi: 10.1016/j.trc.2019.10.002 – ident: ref19 doi: 10.1109/TITS.2019.2940641 – ident: ref10 doi: 10.1016/j.trb.2018.06.004 – volume-title: Introducing an intelligent intersection year: 2018 ident: ref13 – ident: ref14 doi: 10.1016/j.trc.2013.08.014 – ident: ref25 doi: 10.1109/TITS.2014.2320133 – ident: ref44 doi: 10.23919/ACC.2018.8431544 – ident: ref21 doi: 10.1109/TITS.2017.2735628 – ident: ref43 doi: 10.1109/LCSYS.2018.2846182 – ident: ref9 doi: 10.1016/j.trc.2021.102987 – ident: ref1 doi: 10.1016/j.trc.2019.01.026 – ident: ref7 doi: 10.1109/TITS.2019.2925871 – ident: ref23 doi: 10.1109/TITS.2017.2750079 – ident: ref31 doi: 10.1016/j.trc.2021.103138 – ident: ref26 doi: 10.1016/j.trc.2018.02.001 – ident: ref32 doi: 10.1109/LCSYS.2021.3092188 – ident: ref45 doi: 10.1109/9.467672 – ident: ref40 doi: 10.1109/TCNS.2020.2988005 – ident: ref38 doi: 10.1109/MED54222.2022.9837281 – ident: ref48 doi: 10.1137/1.9781611973655 – ident: ref36 doi: 10.1016/j.automatica.2020.108958 – ident: ref30 doi: 10.1080/21680566.2021.1916647 – ident: ref2 doi: 10.1109/TITS.2020.3000682 – ident: ref12 doi: 10.1016/j.trc.2021.103338 – ident: ref29 doi: 10.1109/TIV.2021.3096993 – year: 2018 ident: ref33 article-title: Optimal control of autonomous vehicles approaching a traffic light publication-title: arXiv:1802.09600 – ident: ref22 doi: 10.1109/TITS.2017.2749963 – ident: ref8 doi: 10.1109/TVT.2019.2910987 – ident: ref47 doi: 10.1109/TCST.2012.2198478 – ident: ref39 doi: 10.1109/TITS.2019.2948646 – ident: ref28 doi: 10.1287/trsc.2021.1061 – ident: ref5 doi: 10.1016/j.trc.2014.09.001
SSID	ssj0014511
Score	2.49942
Snippet	This paper investigates the collaborative control of vehicular traffic for a signal-free intersection. The traffic under consideration is mixed with connected...
SourceID	proquest crossref ieee
SourceType	Aggregation Database Enrichment Source Index Database Publisher
StartPage	1
SubjectTerms	Advanced driver assistance systems Collaboration collaborative control Control theory Coordination Delays Driving Energy consumption Exact solutions Integer programming Linear programming Merging Merging zones Mixed integer mixed traffic Optimal control Optimization penetration rate Platooning Safety Sensitivity analysis Signal-free intersection Throughput Traffic Traffic conflicts Traffic control Traffic intersections Traffic speed Vehicle dynamics Vehicles vehicular platoon
Title	Coordination of Mixed Platoons and Eco-Driving Strategy for a Signal-Free Intersection
URI	https://ieeexplore.ieee.org/document/9917467 https://www.proquest.com/docview/2821070084
Volume	24
WOSCitedRecordID	wos000869388900001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1558-0016 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0014511 issn: 1524-9050 databaseCode: RIE dateStart: 20000101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8QwEB508aAH3-L6IgdPYrTbpq-j6C4KKoKr7K20yVQKSyv7EP33zqTdRVEEb21JSMgknXwzyfcBHAeotMYgkxkS0lGp8SU5vUD62sRofOWqwF4Uvg3v76PBIH5YgNP5XRhEtIfP8IwfbS7fVHrKobJz2suwOsYiLIZhWN_VmmcMmGfLcqO6SsaOP8tgdpz4vH_TfyQk6LpnHvOZeeqbD7KiKj_-xNa99Nb-17F1WG22keKitvsGLGC5CStfyAW34PmyImBZ1NE-UeXirnhHIx6GBLNpqom0NKKrK3k1KjioIBqe2g9B21iRisfihVqQvRGisGHDsT20VW7DU6_bv7yWjYqC1OTKJzLNtTapH3kZEvjSqKinmYdx7neQyfANvXsEu7wgZ3CnAh2kURqFkVYhf_N2oFVWJe6CwIjzsI6TdVhPPfKzTHVUaDIvD6gF17TBmY1rohuKcVa6GCYWajhxwqZI2BRJY4o2nMyrvNb8Gn8V3uKxnxdshr0NBzPjJc0KHCcEJQnZslzA3u-19mGZpePrY18H0JqMpngIS_ptUoxHR3ZyfQK6d8sr
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1bS-wwEB68gfrg5azies2DT4eTtZe02z6Kuiiui-Ceg2-lTaZSkFZ2V9F_70zaXZQjgm9tSUjIJJ18M8n3ARyHqLTGMJMZEtJRqQkkOb1QBtrEaALlqdBeFO53B4Po_j6-nYM_s7swiGgPn2GHH20u31T6mUNlJ7SXYXWMeVgMlPLc-rbWLGfATFuWHdVTMnaCaQ7TdeKT4dXwjrCg53V8ZjTz1ScvZGVV_vsXWwfTW_9Z1zZgrdlIitPa8pswh-UvWP1AL9iCf2cVQcuijveJKhc3xSsacftIQJsmm0hLIy50Jc9HBYcVRMNU-yZoIytScVc8UAuyN0IUNnA4tse2yi3427sYnl3KRkdBanLmE5nmWps0iPwMCX5pVNTTzMc4D1xkOnxD7z4BLz_MGd6pUIdplEbdSKsuf_O3YaGsStwBgRFnYh0nc1lRPQqyTLmqazI_D6kFz7TBmY5rohuScda6eEws2HDihE2RsCmSxhRt-D2r8lQzbHxXuMVjPyvYDHsb9qfGS5o1OE4ITBK2ZcGA3a9rHcHy5fCmn_SvBtd7sMJC8vUhsH1YmIye8QCW9MukGI8O7UR7B3gPznI
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Coordination+of+Mixed+Platoons+and+Eco-Driving+Strategy+for+a+Signal-Free+Intersection&rft.jtitle=IEEE+transactions+on+intelligent+transportation+systems&rft.au=Jiang%2C+Simin&rft.au=Pan%2C+Tianlu&rft.au=Zhong%2C+Renxin&rft.au=Chen%2C+Can&rft.date=2023-06-01&rft.issn=1524-9050&rft.eissn=1558-0016&rft.volume=24&rft.issue=6&rft.spage=6597&rft.epage=6613&rft_id=info:doi/10.1109%2FTITS.2022.3211934&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TITS_2022_3211934
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1524-9050&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1524-9050&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1524-9050&client=summon