Using Distributed Autonomous Adaptive Cruise Control Vehicles to
Mitigate Congestion in a Two-Lane Traffic Flow 2023-01-5055
Steady advances in autonomous vehicle development are expected to lead to
improved traffic flow in terms of string stability compared with that for
human-driven vehicles. Fluctuation in intervehicle distances among a group of
vehicles without string stability is amplified as it propagates upstream
(rearward), which may cause traffic congestion. Since it will take a few decades
for autonomous vehicles to replace all human-driven vehicles, it is important to
tackle the problem of traffic congestion in a mixed flow of human-driven and
autonomous vehicles. Communication technologies such as fifth-generation mobile
communication systems, which are improving rapidly, enable vehicle-to-vehicle
communication with a sufficiently small delay. We previously reported a strategy
based on vehicle-to-vehicle communication for avoiding traffic congestion by
using leader–follower control, which is a distributed autonomous control
strategy. However, it was designed and evaluated for single-lane traffic. With
substantial multilane traffic, congestion triggered by changes in vehicle
velocity could appear more frequently and severely compared with that of
single-lane traffic due to vehicles cutting in from other lanes. Use of our
previously proposed strategy in this scenario could result in undesirable
repetitive deceleration of the distributed autonomous adaptive cruise control
(ACC) vehicles due to reduced spacing between a distributed autonomous ACC
vehicle and the preceding human-driven vehicle. Here, we report a distributed
autonomous ACC vehicle control strategy that prevents undesirable repetitive
deceleration while satisfying the string stability condition. With the proposed
control strategy, the reference acceleration is calculated as the weighted
average of two control functions. One function is used to achieve string
stability between two autonomous ACC vehicles, and the other is used to maintain
a safe distance between an autonomous ACC vehicle and the preceding standard
vehicle. We derive the condition for string stability of distributed
autonomously controlled ACC vehicles and demonstrate the validity of the
proposed control strategy using simulation.
Citation: Kurishige, M., "Using Distributed Autonomous Adaptive Cruise Control Vehicles to Mitigate Congestion in a Two-Lane Traffic Flow," SAE Technical Paper 2023-01-5055, 2023, https://doi.org/10.4271/2023-01-5055. Download Citation
Author(s):
Masahiko Kurishige
Affiliated:
Kyoto University
Pages: 21
Event:
Automotive Technical Papers
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Vehicle to vehicle (V2V)
Communication systems
Autonomous vehicles
Adaptive cruise control
Congestion
Driving automation
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