Journal Home > Volume 5 , Issue 3
Journal of Intelligent and Connected Vehicles 2022, 5(3): 206-214 https://doi.org/10.1108/JICV-03-2022-0007
Research paper | Open Access | Issue | Published: 02 June 2022

Optimal control of automated left-turn platoon at contraflow left-turn lane intersections

Show Author's Information Hanyu Yang1,  Jing Zhao1,  Meng Wang2( )
Department of Traffic Engineering, University of Shanghai for Science and Technology, Shanghai, China
Chair of Traffic Process Automation, Technische Universität Dresden, Dresden, Germany
Keywords:
Connected vehicles, Optimal control, Contraflow left-turn lane intersections, Automated vehicle platoon, Vehicular trajectory, Automated vehicles, Cooperative intelligence, Following control, Vehicle-to-vehicle communication (V2V)
Cite this article:
Yang H, Zhao J, Wang M. Optimal control of automated left-turn platoon at contraflow left-turn lane intersections. Journal of Intelligent and Connected Vehicles, 2022, 5(3): 206-214. https://doi.org/10.1108/JICV-03-2022-0007
Download citation
EndNote(RIS)
BibTeX

474

Views

24

Downloads

Citations

7

Crossref

N/A

WoS

5

Scopus

N/A

CSCD

Abstract Full text About this article
Purpose

This study aims to propose a centralized optimal control model for automated left-turn platoon at contraflow left-turn lane (CLL) intersections.

Design/methodology/approach

The lateral lane change control and the longitudinal acceleration in the control horizon are optimized simultaneously with the objective of maximizing traffic efficiency and smoothness. The proposed model is cast into a mixed-integer linear programming problem and then solved by the branch-and-bound technique.

Findings

The proposed model has a promising control effect under different geometric controlled conditions. Moreover, the proposed model performs robustly under various safety time headways, lengths of the CLL and green times of the main signal.

Originality/value

This study proposed a centralized optimal control model for automated left-turn platoon at CLL intersections. The lateral lane change control and the longitudinal acceleration in the control horizon are optimized simultaneously with the objective of maximizing traffic efficiency and smoothness


menu
Abstract
Full text
Outline
About this article

Optimal control of automated left-turn platoon at contraflow left-turn lane intersections

Show Author's information Hanyu Yang1, Jing Zhao1, Meng Wang2( )
Department of Traffic Engineering, University of Shanghai for Science and Technology, Shanghai, China
Chair of Traffic Process Automation, Technische Universität Dresden, Dresden, Germany

Abstract

Purpose

This study aims to propose a centralized optimal control model for automated left-turn platoon at contraflow left-turn lane (CLL) intersections.

Design/methodology/approach

The lateral lane change control and the longitudinal acceleration in the control horizon are optimized simultaneously with the objective of maximizing traffic efficiency and smoothness. The proposed model is cast into a mixed-integer linear programming problem and then solved by the branch-and-bound technique.

Findings

The proposed model has a promising control effect under different geometric controlled conditions. Moreover, the proposed model performs robustly under various safety time headways, lengths of the CLL and green times of the main signal.

Originality/value

This study proposed a centralized optimal control model for automated left-turn platoon at CLL intersections. The lateral lane change control and the longitudinal acceleration in the control horizon are optimized simultaneously with the objective of maximizing traffic efficiency and smoothness

Keywords: Connected vehicles, Optimal control, Contraflow left-turn lane intersections, Automated vehicle platoon, Vehicular trajectory, Automated vehicles, Cooperative intelligence, Following control, Vehicle-to-vehicle communication (V2V)

References(37)

Ahmane, M., Abbas-Turki, A., Perronnet, F., Wu, J., El Moudni, A., Buisson, J. and Zeo, R. (2013), “Modeling and controlling an isolated urban intersection based on cooperative vehicles”, Transportation Research Part C: Emerging Technologies, Vol. 28, pp. 44-62.
DOI Google Scholar

Asadi, B. and Vahidi, A. (2011), “Predictive cruise control: utilizing upcoming traffic signal information for improving fuel economy and reducing trip time”, IEEE Transactions on Control Systems Technology, Vol. 19 No. 3, pp. 707-714.
DOI Google Scholar

Bichiou, Y. and Rakha, H.A. (2018), “Developing an optimal intersection control system for automated connected vehicles”, IEEE Transactions on Intelligent Transportation Systems, Vol. 20 No. 5, pp. 1908-1916.
DOI Google Scholar

Feng, Y., Yu, C. and Liu, H. (2018), “Spatiotemporal intersection control in a connected and automated vehicle environment”, Transportation Research Part C: Emerging Technologies, Vol. 89, pp. 364-383.
DOI Google Scholar

He, X., Liu, H.X. and Liu, X. (2015), “Optimal vehicle speed trajectory on a signalized arterial with consideration of queue”, Transportation Research Part C: Emerging Technologies, Vol. 61, pp. 106-120.
DOI Google Scholar

Homchaudhuri, B., Vahidi, A. and Pisu, P. (2017), “Fast model predictive control-based fuel efficient control strategy for a group of connected vehicles in urban road conditions”, IEEE Transactions on Control Systems Technology, Vol. 25 No. 2, pp. 760-767.
DOI Google Scholar

Jiang, H., Hu, J., An, S., Wang, M. and Park, B.B. (2017), “Eco approaching at an isolated signalized intersection under partially connected and automated vehicles environment”, Transportation Research Part C: Emerging Technologies, Vol. 79, pp. 290-307.
DOI Google Scholar

Kamal, M.A.S., Mukai, M., Murata, J. and Kawabe, T. (2013), “Model predictive control of vehicles on urban roads for improved fuel economy”, IEEE Transactions on Control Systems Technology, Vol. 21 No. 3, pp. 831-841.
DOI Google Scholar

Kamalanathsharma, R.K., Rakha, H.A. and Yang, H. (2015), “Networkwide impacts of vehicle ecospeed control in the vicinity of traffic signalized intersections”, Transportation Research Record: Journal of the Transportation Research Board, Vol. 2503 No. 1, pp. 91-99.
DOI Google Scholar

Lee, J. and Park, B. (2012), “Development and evaluation of a cooperative vehicle intersection control algorithm under the connected vehicles environment”, IEEE Transactions on Intelligent Transportation Systems, Vol. 13 No. 1, pp. 81-90.
DOI Google Scholar

Li, W. and Ban, X. (2019), “Connected vehicles based traffic signal timing optimization”, IEEE Transactions on Intelligent Transportation Systems, Vol. 20 No. 12, pp. 4354-4366.
DOI Google Scholar

Liu, P. and Fan, W.D. (2021), “Exploring the impact of connected and autonomous vehicles on mobility and environment at signalized intersections through vehicle-to-infrastructure (V2I) and infrastructure-to-vehicle (I2V) communications”, Transportation Planning and Technology, Vol. 44 No. 2, pp. 129-138.
DOI Google Scholar

Liu, M., Hoogendoorn, S. and Wang, M. (2020), “Receding horizon cooperative platoon trajectory planning on corridors with dynamic traffic signal”, Transportation Research Record: Journal of the Transportation Research Board, Vol. 2674 No. 12, pp. 324-338.
DOI Google Scholar

Liu, M., Wang, M. and Hoogendoorn, S. (2019a), “Optimal platoon trajectory planning approach at arterials”, Transportation Research Record: Journal of the Transportation Research Board, Vol. 2673 No. 9, pp. 214-226.
DOI Google Scholar

Liu, Q., Zhou, X. and Zhao, J. (2021), “Modeling the operation of left-turn vehicles at exit lanes for left-turn intersections”, Journal of Transportation Engineering Part A: Systems, Vol. 147, p. 4021022.
DOI Google Scholar

Liu, M., Zhao, J., Hoogendoorn, S. and Wang, M. (2022), “A single-layer approach for joint optimization of traffic signals and cooperative vehicle trajectories at isolated intersections”, Transportation Research Part C: Emerging Technologies, Vol. 134, p. 103459.
DOI Google Scholar

Liu, P., Wu, J., Zhou, H., Bao, J. and Yang, Z. (2019b), “Estimating queue length for contraflow left-turn lane design at signalized intersections”, Journal of Transportation Engineering, Part A: Systems, Vol. 145 No. 6, p. 4019020.
DOI Google Scholar

Ma, Z., Xie, J., Qi, X., Xu, Y. and Sun, J. (2017), “Two-dimensional simulation of turning behavior in potential conflict area of mixed-flow intersections”, Computer-Aided Civil and Infrastructure Engineering, Vol. 32 No. 5, pp. 412-428.
DOI Google Scholar

Sun, W., Zheng, J. and Liu, H.X. (2018), “A capacity maximization scheme for intersection management with automated vehicles”, Transportation Research Part C: Emerging Technologies, Vol. 94, pp. 19-31.
DOI Google Scholar

Typaldos, P., Papamichail, I. and Papageorgiou, M. (2020), “Minimization of fuel consumption for vehicle trajectories”, IEEE Transactions on Intelligent Transportation Systems, Vol. 21 No. 4, pp. 1716-1727.
DOI Google Scholar

Wan, N.F., Vahidi, A. and Luckow, A. (2016), “Optimal speed advisory for connected vehicles in arterial roads and the impact on mixed traffic”, Transportation Research Part C: Emerging Technologies, Vol. 69, pp. 548-563.
DOI Google Scholar

Wang, M., Daamen, W., Hoogendoorn, S.P. and Van Arem, B. (2014a), “Rolling horizon control framework for driver assistance systems. Part Ⅰ: mathematical formulation and non-cooperative systems”, Transportation Research Part C: Emerging Technologies, Vol. 40, pp. 271-289.
DOI Google Scholar

Wang, M., Daamen, W., Hoogendoorn, S.P. and Van Arem, B. (2014b), “Rolling horizon control framework for driver assistance systems. Part Ⅱ: cooperative sensing and cooperative control”, Transportation Research Part C: Emerging Technologies, Vol. 40, pp. 290-311.
DOI Google Scholar

Wu, J., Liu, P., Tian, Z.Z. and Xu, C. (2016), “Operational analysis of the contraflow left-turn lane design at signalized intersections in China”, Transportation Research Part C: Emerging Technologies, Vol. 69, pp. 228-241.
DOI Google Scholar

Wu, J., Liu, P., Qin, X., Zhou, H. and Yang, Z. (2019), “Developing an actuated signal control strategy to improve the operations of contraflow left-turn lane design at signalized intersections”, Transportation Research Part C: Emerging Technologies, Vol. 104, pp. 53-65.
DOI Google Scholar

Wu, J., Ahn, S., Zhou, Y., Liu, P. and Qu, X. (2021), “The cooperative sorting strategy for connected and automated vehicle platoons”, Transportation Research Part C: Emerging Technologies, Vol. 123, p. 102986.
DOI Google Scholar

Xu, B., Ban, X., Bian, Y., Li, W., Wang, J., Li, S. and Li, K. (2019), “Cooperative method of traffic signal optimization and speed control of connected vehicles at isolated intersections”, IEEE Transactions on Intelligent Transportation Systems, Vol. 20 No. 4, pp. 1390-1403.
DOI Google Scholar

Yang, D., Zhou, X., Su, G. and Liu, S. (2019), “Model and simulation of the heterogeneous traffic flow of the urban signalized intersection with an island work zone”, IEEE Transactions on Intelligent Transportation Systems, Vol. 20 No. 5, pp. 1719-1727.
DOI Google Scholar

Yu, C., Feng, Y., Liu, H., Ma, W. and Yang, X. (2018), “Integrated optimization of traffic signals and vehicle trajectories at isolated urban intersections”, Transportation Research Part B: Methodological, Vol. 112, pp. 89-112.
DOI Google Scholar

Yu, C., Sun, W., Liu, H. and Yang, X. (2019), “Managing connected and automated vehicles at isolated intersections: from reservation- to optimization-based methods”, Transportation Research Part B: Methodological, Vol. 122, pp. 416-435.
DOI Google Scholar

Zhao, J. and Liu, Y. (2017), “Safety evaluation of intersections with dynamic use of exit-lanes for left-turn using field data”, Accident Analysis & Prevention, Vol. 102, pp. 31-40.
DOI Google Scholar

Zhao, J., Knoop, V.L. and Wang, M. (2020), “Two-dimensional vehicular movement modelling at intersections based on optimal control”, Transportation Research Part B: Methodological, Vol. 138, pp. 1-22.
DOI Google Scholar

Zhao, J., Yu, J. and Zhou, X.Z. (2019), “Saturation flow models of exit lanes for left-turn intersections”, Journal of Transportation Engineering Part A – Systems, Vol. 145, p. 10.
DOI Google Scholar

Zhao, J., Ma, W., Zhang, H.M. and Yang, X. (2013), “Increasing the capacity of signalized intersections with dynamic use of exit lanes for left-turn traffic”, Transportation Research Record: Journal of the Transportation Research Board, Vol. 2355 No. 1, pp. 49-59.
DOI Google Scholar

Zhao, J., Yun, M., Zhang, H.M. and Yang, X. (2015), “Driving simulator evaluation of drivers' response to intersections with dynamic use of exit-lanes for left-turn”, Accident Analysis & Prevention, Vol. 81, pp. 107-119.
DOI Google Scholar

Zhao, W., Ngoduy, D., Shepherd, S., Liu, R. and Papageorgiou, M. (2018), “A platoon based cooperative eco-driving model for mixed automated and human-driven vehicles at a signalised intersection”, Transportation Research Part C: Emerging Technologies, Vol. 95, pp. 802-821.
DOI Google Scholar

Zohdy, I.H. and Rakha, H.A. (2016), “Intersection management via vehicle connectivity: the intersection cooperative adaptive cruise control system concept”, Journal of Intelligent Transportation Systems, Vol. 20 No. 1, pp. 17-32.
DOI Google Scholar
Publication history
Copyright
Rights and permissions

Publication history

Received: 30 March 2022
Revised: 23 April 2022
Accepted: 09 May 2022
Published: 02 June 2022
Issue date: October 2022

Copyright

© 2022 Hanyu Yang, Jing Zhao and Meng Wang. Published in Journal of Intelligent and Connected Vehicles. Published by Emerald Publishing Limited.

Rights and permissions

This article is published under the Creative Commons Attribution (CC BY 4.0) licence. Anyone may reproduce, distribute, translate and create derivative works of this article (for both commercial and non-commercial purposes), subject to full attribution to the original publication and authors. The full terms of this licence maybe seen at http://creativecommons.org/licences/by/4.0/legalcode

Return