Aug 2026· International Conference on Electromechanical Control Technology and Transportation· Vol 14324, pp. 143240X - 143240X-6· 0 citations· 8 references
Engineering
TL;DR
A single-layer Model Predictive Control framework based on a safety-priority strategy to optimize the longitudinal trajectories of autonomous vehicles in non-steady-state flow achieves a multi-objective trade-off between safety, efficiency, and comfort.
Abstract
To address frequent start-stop fluctuations and safety conflicts in mixed traffic at signalized intersections, this paper proposes a single-layer Model Predictive Control (MPC) framework based on a safety-priority strategy to optimize the longitudinal trajectories of autonomous vehicles (AVs) in non-steady-state flow. By integrating a "risk boundary wall" and hard safety constraints within a 10s prediction horizon, the model achieves a multi-objective trade-off between safety, efficiency, and comfort; simulation results demonstrate that under 100% AV penetration, the minimum Time-to-Collision (TTC) increases from 0.56s to 1.78s, establishing a robust physical safety boundary while reaching a Pareto equilibrium between safety-induced delays and traffic flow smoothness.
This paper presents an adaptive hybrid event-triggered switched formation control strategy for the multi-vehicle systems containing autonomous vehicles (AVs) to address uncertainties in both longitudinal and lateral dynamics. The proposed framework enables safe and efficient maneuvering of AV formations in complex traf...
Zi-Ming Wang, Shiyuan Piao, Xin Wang et al.· IEEE Systems, Man, and Cyber...· 0 citations
With the increasing deployment of autonomous transportation systems, longitudinal vehicle control has so far mostly been addressed using decentralized feedback-based approaches such as Adaptive Cruise Control (ACC). These methods offer low computational complexity and inherent robustness, and are widely deployed in pro...
Paul Heckelmann, Stephan Rinderknecht· Conference on Control Techno...· 0 citations
Simulation experiments demonstrate that the proposed joint optimization model effectively reduces delays across most movements even at low CAV penetration rates, and as the CAV penetration rate increases, consistent and more pronounced reductions in both delay and energy consumption are observed for all movements.
This paper presents an integrated macro-micro control framework for enhancing active safety on highways, where crashes frequently arise from speed differentials in congested flow. The framework couples a macroscopic layer, comprising a density-based variable speed limit (VSL) controller and an ALINEA ramp metering (RM)...
Xiao Gong, Teng Zhang, Zhu-Qing Wu et al.· International Symposium on S...· 0 citations
To enhance the driving comfort of autonomous vehicles, this paper proposes a collaborative control strategy for longitudinal speed planning and preview-style active suspension. Through adaptive spatiotemporal resampling based on vehicle speed, the influence of the road surface is decomposed into time-domain excitations...
Ying-Qiao Xiong, Wen-Si S. Hu, Zhong-Zheng Zhang et al.· IEEE/ASME International Conf...· 0 citations
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