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Cooperative Mandatory Lane Change for Connected Vehicles on Signalized Intersection Roads
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 14, 2020 by SAE International in United States
This paper presents a hierarchical control architecture to coordinate a group of connected vehicles on signalized intersection roads, where the vehicles are allowed change lane to follow a prescribed path. The hierarchical control strategy consists of two levels of controllers. The higher level controller acts as a centralized controller, while the lower level controller implemented in each individual car is designed as decentralized controller. In the hierarchical control architecture, the centralized intersection controller estimates the target velocity for each approaching connected vehicle to avoid red light stop based on the signal phase and timing (SPAT) information. Each connected vehicle as a decentralized controller utilizes Model Predictive Control (MPC) to track the target velocity in a fuel efficient manner. The main objective is this paper is to consider mandatory lane changing. As in the realistic scenarios, vehicles are not necessary required to drive in single lane. More specifically, they more likely change their lanes prior to signals. Hence, the vehicle decentralized controllers are prepared to cooperate with the vehicle which has mandatory lane change request (host vehicle). The cooperative mandatory lane change is accomplished by inserting a virtual vehicle on the host vehicle’s target lane. The simulation results provided in the paper show the advantage of our proposed approach on both the lane change duration and vehicle fuel economy.