Flexible mixed platoon driving strategy at signalized intersection based on connected and automated vehicle pair

Abstract

Nowadays, the urban intersection has become a mixed and complex scenario with connected and automated vehicles (CAVs) and human-driven vehicles (HDVs). Current studies emphasize utilizing single CAV trajectory optimization to guide the entire mixed platoon, while rarely considering the collaborative characteristics of multiple CAVs when passing signalized intersection. In this paper, a novel flexible mixed platoon intersection-passing strategy based on CAV pair is proposed. We firstly propose the notion of CAV pair-based mixed platoon for velocity optimization. A guidance strategy and a splitting strategy are developed by exploring the synergistic effects of CAV pair. Considering these dual characteristics for CAV pair, a more flexible passage for mixed platoon at signalized intersection can be achieved. Then, a piece-wise intersection-passing strategy is designed to reduce computational complexity and enhance the real-time optimization capabilities. An optimization model for flexible mixed platoon based on CAV pair is also established with the objectives of minimizing energy consumption and travel time. Finally, numerical simulations, including various traffic scenarios, are conducted in SUMO to verify the rationale and superiority of the dual characteristics for the flexible mixed platoon. The findings provide a scalable foundation for deploying CAV-enabled eco-driving systems in the mixed traffic scenario.