2020/09/30 by Keqiang Li, Jiawei Wang, Yang Zheng · 118 citations
Computer Science · Engineering · Mathematics · Social Sciences · #Artificial intelligence #Computer network #Computer science #Control (management) #Control theory (sociology) #Cooperative Adaptive Cruise Control #Cruise control #Engineering #Function (biology) #Platoon #Road traffic control #Set (abstract data type) #Stability (learning theory) #Traffic and Road Safety #Traffic control and management #Traffic flow (computer networking) #Transportation Planning and Optimization #cs.SY #eess.SY #math.OC
paper · pdf · doi:10.1109/tits.2022.3146612
published in IEEE Transactions on Intelligent Transportation Systems 23(9), 15951-15966 (Institute of Electrical and Electronics Engineers) · 16 pages, 13 figures, 1 table. arXiv admin note: text overlap with arXiv:2004.00397
openalex created_date 2020/09/14 · openalex publication_date 2022/02/09 · arxiv created 2022/02/14 · arxiv updated 2022/02/15 · openalex updated_date 2026/08/05
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In single-lane mixed traffic consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt an independently designed Adaptive Cruise Control (ACC) strategy. Then, we focus on the case of cooperative formation where AVs utilize a centralized optimal controller. We further investigate the corresponding optimal formation of multiple AVs using set-function optimization. Two predominant optimal formations,i.e., uniform distribution and platoon formation, emerge from extensive numerical experiments. Interestingly, platooning might have the least potential to improve traffic performance when HDVs have poor string stability behavior. These results suggest more opportunities for cooperative formation of AVs, beyond platooning, in practical mixed traffic flow.