- title
- A Lateral Positioning Strategy for Connected and Automated Vehicles in Lane-free Traffic
- Please use the following URL when quoting:
- https://nbn-resolving.org/urn:nbn:de:bsz:14-qucosa2-859503
- conference
- 4th Symposium on Management of Future Motorway and Urban Traffic Systems (MFTS). Dresden, 30. November - 2. Dezember
- original_in_proceeding0000
- Proceedings of the 4th Symposium on Management of Future Motorway and Urban Traffic Systems 2022 - 9
Herausgeber: Wang, Meng
Herausgeber: Jaekel, Birgit
Herausgeber: Lehnert, Martin
Herausgeber: Zhou, Runhao
Herausgeber: Li, Zirui
Erscheinungsort: Dresden
Verlag: TUDpress
Erscheinungsjahr: 2023
Titel Schriftenreihe: Verkehrstelematik
Bandnummer Schriftenreihe: 9
Seiten: 9-18
ISBN: 978-3-95908-296-9 - doi
- https://doi.org/10.25368/2023.93
- Abstract (EN)
- An optimal-control based path planning algorithm has been developed recently for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, including vehicle nudging. That vehicle movement strategy considers, in the lateral direction, a lateral desired speed that had been set to zero in previous works; in other words, vehicles avoid lateral movement if this is not helpful in achieving some of their goals, e.g. achieving a longitudinal desired speed by overtaking slower vehicles. In this work, a lateral positioning strategy for the vehicles is proposed, aiming to improve the vehicles’ longitudinal speeds and the traffic flow, mainly at intermediate densities, by distributing laterally the vehicles based on their longitudinal desired speeds. The intention is to leverage the existing optimal control formulation to move the CAVs to appropriate lateral positions, while respecting other, higher-priority sub-objectives, such as avoiding crashes. First, the longitudinal desired speed of each vehicle is mapped to a lateral desired position under the premise “faster vehicles drive farther left”. Then, the value of the desired lateral speed is updated in real-time in dependence on the vehicle’s current versus the desired lateral position, letting the optimal control problem, with the given sub-objective priorities, decide on the actual vehicle path. The proposed strategy is demonstrated via traffic simulations, involving various traffic densities, on a ring-road. Several quantities, such as the reached average flows and statistical measures of the error in the lateral position are computed for evaluation and comparison purposes.
- Keywords (DE)
- automatisierte Fahrzeuge, spurloser Verkehr, Querführungsstrategie
- Keywords (EN)
- automated vehicles, lane-free traffic, lateral control strategy
- Classification (DDC)
- 360
- Classification (RVK)
- ZO 4620
- ZO 3100
- Publisher
- Technische Universität Dresden
- Publishing house
- TUDpress, Dresden
- URN Qucosa
- urn:nbn:de:bsz:14-qucosa2-859503
- Qucosa date of publication
- 22.06.2023
- Document type
- in_proceeding
- Document language
- English
- licence
