1. A safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environment.
- Author
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Mahbub, A.M. Ishtiaque, Le, Viet-Anh, and Malikopoulos, Andreas A.
- Subjects
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AUTONOMOUS vehicles , *RELATIVE velocity , *PREDICTION models , *COMPUTER simulation , *SCALABILITY - Abstract
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we develop a safety-prioritized receding horizon control framework for creating platoons of HDVs preceded by a CAV Our framework ensures indirect control of the following HDVs by directly controlling the leading CAV given the safety constraints. The framework utilizes a data-driven prediction model that is based on the recursive least squares algorithm and the constant time headway relative velocity car-following model to predict future trajectories of human-driven vehicles. To demonstrate the efficacy of the proposed framework, we conduct numerical simulations and provide the associated scalability, robustness, and performance analyses. [ABSTRACT FROM AUTHOR]
- Published
- 2023
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