Journal
JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS
Volume -, Issue -, Pages -Publisher
TAYLOR & FRANCIS INC
DOI: 10.1080/15472450.2022.2114081
Keywords
CACC; motion planning; platoon lane change; space-domain; stability analysis
Funding
- Shanghai Municipal Science and Technology Major Project [2021SHZDZX0100]
- Tongji Zhongte Chair Professor Foundation [000000375-2018082]
- Fundamental Research Funds for the Central Universities
- National Natural Science Foundation of China [61903058]
- Shanghai Oriental Scholar (2018)
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This research proposes a CACC controller with successive platoon lane-change capability to improve the mobility of CACC. The results show enhanced platoon lane-change competence and efficiency, as well as increased robustness against congestion. The proposed controller is ready for real-time implementation.
A cooperative adaptive cruise control (CACC) system may be impeded by slow-moving traffic in the application. To improve the mobility of CACC, this research proposes a CACC controller with successive platoon lane-change capability. The goal is to help a platoon cut through traffic successively like a snake via smaller windows. The proposed controller has the following features: i) with successive platoon lane-change capability; ii) with string stability and lateral stability; iii) with consideration of vehicle dynamics. The proposed controller is evaluated on a simulation platform with the context of traffic and a joint simulation platform consisting of PreScan and Matlab/Simulink. the Results demonstrate that compared to the conventional controller: i) platoon lane-change competence is enhanced by 71.36% on arterials and 120.49% on freeways; ii) platoon lane-change efficiency is enhanced by 25.05% on arterials and 41.36% on freeways; iii) the proposed controller is more robust against congestion. Moreover, the computation time of the proposed controller is approximately 15 milliseconds when running on a laptop equipped with an Intel i7-8750H CPU. This indicates that the proposed controller is ready for real-time implementation.
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