Poster 22: Multi-Vehicle Trajectory Design During the Process of Cooperative Adaptive Cruise Control(CACC) Platoon Formation
(Room Palms Ballroom)
16 Jul 19
5:30 PM
-
7:00 PM
Tracks:
Vehicle Automation Technology
Cooperative Adaptive Cruise Control (CACC), one of CAV applications, allows vehicles to communicate with each other and automatically control vehicle’s speed to coordinate their maneuvers in the form of platoons. Therefore, several optimal benefits can be yielded by CACC, including the increase of throughput, the decrease of fuel consumption and pollutant emission, and the improvement of traffic safety. Although many existing studies reported the methodologies of operating CACC platoons, how to form the platoon from sparse CAVs remains unsolved. In response to such need, this research is to study the process of CACC platoon formation with the support of vehicle-to-vehicle (V2V) and infrastructure-to-vehicle (I2V) communications, and vehicle automation function. Firstly, the basic scenario and the destination-based protocol to determine vehicle sequence in the platoon is described. Then a model based on a space-time lattice is formulated to construct vehicle trajectories that comply with boundary conditions of kinematic limits, car-following safety and lane changing rules. The goal is to optimize the vehicle sequence and optimize fuel consumption simultaneously. To solve this model, a two-stage algorithm is proposed. The first stage is a heuristic algorithm to determine vehicle sequence; In the second stage, dynamic programming is adapted to optimize fuel consumption based on the determined sequence. Numerical experiments are conducted to illustrate how to use the proposed approach to design vehicle trajectories during CACC platoon formation.