Transportation Research Part C-Emerging Technologies最新文献

{"title":"Dynamic characteristics of commercial Adaptive Cruise Control across driving situations: Response time, string stability, and asymmetric behavior","authors":"Hwapyeong Yu,&nbsp;Hwasoo Yeo","doi":"10.1016/j.trc.2024.104931","DOIUrl":"10.1016/j.trc.2024.104931","url":null,"abstract":"<div><div>Adaptive Cruise Control (ACC) is a popular feature for long-distance highway driving due to its convenience. Research has been conducted on the driving characteristics of commercial ACC vehicles that could impact road capacity and congestion. While response time and string stability are major characteristics, previous studies have often overlooked their variations across driving situations. This study analyzes the dynamic characteristics of commercial ACC, including response time, string stability, and asymmetric behavior across different driving situations. A method is proposed to extract the response time of commercial ACC vehicles during cruising, decelerating, and accelerating situations, using cross-correlation and acceleration threshold methods. Phenomena that influence string stability are categorized based on driving situations focusing on their origin and features. This study identifies patterns in asymmetric behavior and presents a car-following model calibration process that incorporates observed features using the OpenACC dataset. The findings reveal distinct variations in response time across different driving situations, escalating in the sequence of deceleration, cruising, and acceleration. String instability during deceleration is influenced by the vehicle’s response time, while during acceleration, it stems from an expanded gap reduction process. ACC vehicles exhibit asymmetric behavior, with a reduced tolerance for gap changes. The Helly model, which integrates response times, asymmetric behavior, and maximum acceleration, accurately simulates vehicle movement and string instability. The observed variations in response time and asymmetric behavior across driving situations provide an understanding of the traffic hysteresis of commercial ACC vehicles. Furthermore, our analysis suggests that achieving string stability requires diverse approaches for each driving situation.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104931"},"PeriodicalIF":7.6,"publicationDate":"2024-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Household activity pattern problem with automated vehicle-enabled intermodal trips","authors":"Younghun Bahk ,&nbsp;Michael Hyland","doi":"10.1016/j.trc.2024.104930","DOIUrl":"10.1016/j.trc.2024.104930","url":null,"abstract":"<div><div>Driverless or fully automated vehicles (AVs) are expected to fundamentally change how individuals and households travel and how vehicles use roadway infrastructure. The first goal of this study is to develop a modeling framework of activity-constrained household travel in a future multi-modal network with private AVs, shared-use AVs, transit, and intermodal AV-transit travel options. The second goal is to analyze the potential impacts of AVs—including intermodal AV-transit travel—on (a) household-level travel behavior, (b) household travel costs, (c) demand for transport modes, including transit, and (d) vehicle kilometers traveled or VKT. To meet the first goal, we propose and formulate the Household Activity Pattern Problem with AV-enabled Intermodal Trips (HAPP-AV-IT) that incorporates AV deadheading and intermodal AV-transit trips. The modeling framework extends prior HAPP-based formulations that model household-level travel decisions as vehicle (and person) routing and scheduling problems, similar to the pickup and delivery problem with time-windows. To meet the second goal, we apply the HAPP-AV-IT to two case studies and conduct many computational experiments. We use synthetic activity location data for synthetic households and a fictitious medium-size network with a road network, transit network, residential locations, activity locations, and parking locations. The computational results illustrate (a) the critical role that household AV ownership plays in terms of household travel decisions, modal demand, and VKT, (b) that with AVs, deadheading accounts for 30–40 % of vehicle operating distances, (c) that around 10 % of households in the study region benefit from AV-based intermodal trips, and (d) that those 10 % of households see 5 % reductions in household travel costs and 25 % reductions in VKT on average in the most transit friendly scenario. This last finding suggests that intermodal AV-transit trips may exist in a driverless vehicle future, and therefore, transit agencies and transportation planners should consider how to serve this market. We also propose and test a simple heuristic algorithm that quickly solves HAPP-AV-IT problem instances.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104930"},"PeriodicalIF":7.6,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamic lane management for emerging mixed traffic with semi-autonomous vehicles","authors":"Hao Guan,&nbsp;Qiang Meng,&nbsp;Xiangdong Chen","doi":"10.1016/j.trc.2024.104914","DOIUrl":"10.1016/j.trc.2024.104914","url":null,"abstract":"<div><div>Semi-autonomous vehicles (semi-AVs), situated between fully-autonomous vehicles (full-AVs) and traditional vehicles (TVs), offer functionalities that allow drivers to activate autonomous driving features. These functionalities, such as Tesla Autopilot, BMW Personal Pilot, and General Motors Super Cruise, relieve drivers at the wheel of certain driving tasks and are anticipated to enhance road capacity by improving driving efficiency. However, the immaturity of early-stage autonomous driving technology can hinder immediate improvements in road capacity, especially in scenarios with a mix traffic of manually and autonomously driven vehicles. To mitigate these challenges, this study introduces the use of dedicated lanes and designs an intelligent corridor system that dynamically optimizes the allocation of lanes for auto-driven and human-driven vehicles. Firstly, a congestion model is established to capture the dynamics of bottleneck congestion and derive vehicle delays with demand changes, serving as a valuable reference for developing lane management strategies. Then, the choice of driving mode for semi-AVs is bounded with lane selection and modeled using a dynamic user equilibrium model over discrete-time series. Based on that, numbers of auto-driven and human-driven lanes are dynamically optimized with the objective of minimizing system costs. To prevent frequent adjustments of lane types that could degrade system performance, we employ a non-myopic decision-making strategy to account for both immediate and future costs, ensuring robust and efficient lane management over the entire decision horizon. Through numerical experiments, we validate the effectiveness of the dynamic lane management and non-myopic strategy under various semi-AV penetration and demand levels, demonstrating that dynamic lane management outperforms (or at least equals) fixed-lane scenarios and static lane management in all test scenarios. Additionally, we conducted sensitivity analyses on AV adoption levels, demand levels, decision horizons, and period lengths, uncovering useful insights for the practical application of dynamic lane management. Overall, this study offers a promising solution to efficient lane management of corridor systems in mixed traffic, especially in the initial stage of AV adoption.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104914"},"PeriodicalIF":7.6,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Reinforced stable matching for Crowd-Sourced Delivery Systems under stochastic driver acceptance behavior","authors":"Shixuan Hou ,&nbsp;Chun Wang ,&nbsp;Jie Gao","doi":"10.1016/j.trc.2024.104916","DOIUrl":"10.1016/j.trc.2024.104916","url":null,"abstract":"<div><div>Crowd-Sourced Delivery Systems (CDS) depend on occasional drivers to deliver parcels directly to online customers. These freelance drivers have the flexibility to accept or reject orders from the platform, leading to a stochastic and often unstable matching process for delivery assignments. This instability results in frequent rematching, delayed deliveries, decreased customer satisfaction, and increased operational costs, all highlighting the critical need for improved matching stability within CDS. While traditional stable matching theory provides a foundation, it primarily addresses static and deterministic scenarios, making it less effective in the dynamic and unpredictable environments typical of CDS. Addressing this gap, this study extends the classic Gale–Shapley (GS) stable matching algorithm by incorporating tailored compensations for drivers, incentivizing them to accept assigned orders and thus improving the stability of matchings, even with the inherent uncertainties of driver acceptance. We prove that the proposed mechanism can generate reinforced stable matching results based on tailored compensation values. Also, our numerical study shows that this reinforced stable matching approach significantly outperforms traditional methods in terms of both matching stability and cost-effectiveness. It reduces the order rejection rate to as low as 1% and cuts operational costs by up to 18%.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104916"},"PeriodicalIF":7.6,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A human factors-based modeling framework to mimic bus driver behavior","authors":"Anshuman Sharma ,&nbsp;Abdul Rawoof Pinjari ,&nbsp;Sangram Nirmale ,&nbsp;Rajesh Sundaresan","doi":"10.1016/j.trc.2024.104929","DOIUrl":"10.1016/j.trc.2024.104929","url":null,"abstract":"<div><div>Over the past 50–60 years, numerous driver behavior models have been proposed in the literature. However, the literature still lacks models describing bus drivers’ behavior in traffic streams, even though buses comprise a non-negligible component of the traffic mix in many cities. Further, bus driver behavior might differ from other vehicles due to the differences in size, kinematic characteristics, maneuvering capabilities, and the number of occupants. Moreover, human factors such as multi-vehicle anticipation and stimuli perception contribute to this difference in driver behavior. Motivated by these reasons, this study presents a new modeling framework for mimicking bus driver behavior. The framework incorporates two important aspects of bus driver behavior: multi-vehicle anticipation and stimuli perception. Based on the proposed modeling framework, the study modifies the widely used Intelligent Driver Model (IDM). A variance-based sensitivity analysis is carried out to recognize the influence of model parameters (specifically, the new parameters) on the output of the IDM model. The modified IDM model is calibrated and validated using an empirical trajectory dataset of about 90 buses from a traffic stream in Chennai, India. In doing so, the study also contributes to modelling driver behavior in heterogeneous and disorderly traffic streams found in Indian cities and elsewhere. The parameter calibration results show that the average calibrated parameters of the modified IDM offer realistic interpretations, and the calibration and validation errors are small. Furthermore, it is evident from the results that the perceived space gaps by bus drivers can be longer or shorter than the actual space gaps. Overall, the modified IDM model outperformed the original IDM, highlighting the efficacy of the proposed multi-vehicle anticipation and stimuli perception features in the model. Finally, the study also evaluates the model performance by analysing its stability and macroscopic properties.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104929"},"PeriodicalIF":7.6,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"RUMBoost: Gradient boosted random utility models","authors":"Nicolas Salvadé,&nbsp;Tim Hillel","doi":"10.1016/j.trc.2024.104897","DOIUrl":"10.1016/j.trc.2024.104897","url":null,"abstract":"<div><div>This paper introduces the RUMBoost model, a novel discrete choice modelling approach that combines the interpretability and behavioural robustness of Random Utility Models (RUMs) with the generalisation and predictive ability of tree-based ensemble methods. We obtain the full functional form of non-linear utility specifications by replacing each linear parameter in the utility functions of a RUM with an ensemble of gradient boosted regression trees. We introduce additional constraints on the ensembles to ensure three crucial features of the utility specifications: (i) dependency of the utilities of each alternative on only the attributes of that alternative, (ii) monotonicity of marginal utilities, and (iii) an intrinsically interpretable functional form, where the exact response of the model is known throughout the entire input space. Furthermore, we introduce an optimisation-based smoothing technique that replaces the piece-wise constant utility values of alternative attributes with monotonic piece-wise cubic splines to identify non-linear parameters with defined gradient. We demonstrate the potential of RUMBoost compared to various benchmark ML and Random Utility models for revealed and stated preference mode choice data as well as a semi-synthetic example. The results highlight both the great predictive performance and the direct interpretability of our proposed approach, allowing for the identification of complex behaviours associated with different alternatives. The smoothed attribute utility functions allow for the calculation of various behavioural indicators such as the Value of Time (VoT) and marginal utilities. Finally, we demonstrate the flexibility of our methodology by showing how the RUMBoost model can be extended to complex model specifications, including attribute interactions, correlation within alternative error terms (Nested Logit model) and heterogeneity within the population (Mixed Logit model).</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104897"},"PeriodicalIF":7.6,"publicationDate":"2024-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Discovering the optimal relationship hypothesis of car-following behaviors with neural network-based symbolic regression","authors":"Tenglong Li ,&nbsp;Dong Ngoduy ,&nbsp;Seunghyeon Lee ,&nbsp;Ziyuan Pu ,&nbsp;Francesco Viti","doi":"10.1016/j.trc.2024.104920","DOIUrl":"10.1016/j.trc.2024.104920","url":null,"abstract":"<div><div>Mathematical models describing the dynamics of traffic flow have become increasingly popular as tools supporting the analysis and evaluation of traffic systems. This paper focuses on microscopic simulation tools, specifically those employing ordinary differential equations (ODEs). In general, most ODEs-based traffic models (i.e., car-following models or CFMs for short) require prior behavioral assumptions, that is, the optimal traffic state relationships. These assumptions vary widely across traffic scenarios, posing limitations. To overcome this hurdle and enhance CFMs’ practicability, this paper proposes a novel research paradigm—artificial intelligence (AI) for (traffic) physics or AI-driven traffic flow theory, to explore the mechanisms of car-following behaviors. The proposed neural network (SciNet)-based architecture for symbolic regression, called SciNet-CFM, can provide scientific hypotheses for the modeling of car-following behaviors from the AI perspective, thus relaxing the prior behavioral assumptions in current traffic theory. Specifically, symbolic regression is used to generate a tractable mathematical expression for CFM discovery, rather than the unexplained connection structure of traditional neural networks. The numerical and empirical experiments show that the SciNet-CFM has the potential to uncover the hidden properties of the observed microscopic traffic flow dynamics. The comparisons with classical and state-of-the-art models demonstrate a better performance of the proposed SciNet-CFM over traditional physics-based, data-driven, and hybrid models.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104920"},"PeriodicalIF":7.6,"publicationDate":"2024-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650885","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"From lane-less to lane-free: Implications in the era of automated vehicles","authors":"Abebe Dress Beza ,&nbsp;Zhuopeng Xie ,&nbsp;Mohsen Ramezani ,&nbsp;David Levinson","doi":"10.1016/j.trc.2024.104898","DOIUrl":"10.1016/j.trc.2024.104898","url":null,"abstract":"<div><div>Advances in autonomous vehicle (AV) technology and research into connected autonomous vehicle (CAV) technology have renewed interest in lane-free traffic. The present study reviews a large body of scientific literature to explore the potential impacts of lane-less and lane-free traffic streams and examines the control strategies and trends of lane-free traffic through the lens of future transport. The findings indicate that lane-free traffic has the potential to positively impact road traffic, including an increase in traffic performance and a rise in road infrastructure capacity due to efficient space use and the seepage behavior of small-sized vehicles (e.g., motorized two-wheelers) in mixed traffic scenarios. Furthermore, studies on lane-less traffic with human-driven vehicles can provide essential insights into the potential behavior of lane-free AV traffic and how AVs might be programmed and designed to operate safely and effectively in complex settings. For instance, a lane-free traffic setting could be a better option for improving traffic flow when AVs vary in size, and seepage behavior can be incorporated into the driving characteristics of AVs.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104898"},"PeriodicalIF":7.6,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Stability analysis and controller design of the Cooperative Adaptive Cruise Control platoon considering a rate-free time-varying communication delay and uncertainties","authors":"Tiancheng Ruan ,&nbsp;Yu Chen ,&nbsp;Xiaopeng Li ,&nbsp;Jian Wang ,&nbsp;Yi Liu ,&nbsp;Hao Wang","doi":"10.1016/j.trc.2024.104913","DOIUrl":"10.1016/j.trc.2024.104913","url":null,"abstract":"<div><div>In recent years, Cooperative Adaptive Cruise Controls (CACCs) have been increasingly studied as a promising solution to problems such as traffic congestion and pollutant emissions. Despite their potential, the communication delays within CACC systems undermine the effectiveness of regular feedback control method in guaranteeing the fundamental control objective of stability. Considerable research has been conducted to derive stability conditions that account for communication delays. However, the time-varying and rate-free attributes of communication delay make deriving stability conditions highly challenging. To address this, this paper proposes a novel stability condition for the CACC platoon considering a rate-free communication delay using the Lyapunov–Krasovskii Stability Theorem and Schur complement. Additionally, we deduce a robust stability condition that takes into account measure uncertainties. Building on these foundations, a centralized <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller is developed to address rate-free disturbances, ensuring string stability. Furthermore, extensive numerical analyses are conducted to investigate the impact of a rate-free communication delay and measurement uncertainties on tracking performance, transient response, and safety conditions. The results demonstrate that CACCs can effectively track errors and achieve equilibrium if the stability condition is met. Realistic scenarios incorporating rate-free communication delays and measurement uncertainties are associated with diminished tracking performance, transient responses, and safety conditions when compared to ideal scenarios characterized by constant communication delays. Furthermore, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller surpasses the regular controller in tracking performance and maintains string stability amidst rate-free communication delays. Specifically, under the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller, the peak spacing error is reduced to merely 83.68% of that observed with the regular controller. The deployment of the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller facilitates a significant reduction in settling time (ST) by 90.04% and effectively prevents overshoot, thereby ensuring string stability, in stark contrast to the regular controller, which only achieves a 79.34% reduction in ST and a 5.97% reduction in maximum overshoot. Moreover, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller markedly reduces the likelihood of high-risk scenarios in comparison to the regular controller. Moreover, CACCs with access to more distant and abundant information demonstrate superior transient response and safety conditions.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104913"},"PeriodicalIF":7.6,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A hierarchical-centralized MPC strategy for connected automated vehicular platoon incorporating level interactions","authors":"Changyin Dong ,&nbsp;Keyun Lyu ,&nbsp;Ni Li ,&nbsp;Zhuozhi Xiong ,&nbsp;Daiheng Ni ,&nbsp;Ye Li ,&nbsp;Yujia Chen ,&nbsp;Hao Wang","doi":"10.1016/j.trc.2024.104911","DOIUrl":"10.1016/j.trc.2024.104911","url":null,"abstract":"<div><div>Recently, there has been a surge of interest in developing platoon control strategies based on model predictive control (MPC) to enhance cooperation among connected automated vehicles (CAVs). Nevertheless, solving the optimization problem in MPC instantaneously while achieving centralized coordination among all vehicles proves to be challenging. To address this problem, this study proposes a hierarchical-centralized MPC (HCMPC) strategy for CAVs in a platoon, where a two-level information interaction and control decision generation procedure is developed. In this strategy, interactions among CAVs are divided into two levels by decoupling the platoon into sub-platoons. The upper level denotes the interaction between the leading vehicle of the whole platoon and sub-leading vehicles. The lower level denotes the interaction between the sub-leading vehicle and following vehicles in the same sub-platoon. Corresponding to the two levels, the platoon controller and sub-platoon controllers are interacted to realize cooperative behaviour while reducing computational time. A thorough stability analysis including asymptotic stability and string stability is conducted, obtaining sufficient conditions for different levels of string stability of this novel hierarchical control structure. The results of both numerical and field experiments show that HCMPC reduces the computational time significantly while achieving similar performance to idealized MPC in terms of realizing control target and suppressing traffic oscillations.</div></div>","PeriodicalId":54417,"journal":{"name":"Transportation Research Part C-Emerging Technologies","volume":"170 ","pages":"Article 104911"},"PeriodicalIF":7.6,"publicationDate":"2024-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}