A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow
As the emergence of the connected and autonomous vehicles (CAVs), the platooning technology is believed to play a key role in the future intelligent transportation system. However, current studies mainly focus on the beneficial sides of CAV platoons, and less attention is given to their negative eff...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi-Wiley
2023-01-01
|
| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2023/9370609 |
| _version_ | 1797832279929651200 |
|---|---|
| author | Kefu Yi Lixia Tang Wei Hao Zhaolei Zhang Rongdong Hu Kai Luo |
| author_facet | Kefu Yi Lixia Tang Wei Hao Zhaolei Zhang Rongdong Hu Kai Luo |
| author_sort | Kefu Yi |
| collection | DOAJ |
| description | As the emergence of the connected and autonomous vehicles (CAVs), the platooning technology is believed to play a key role in the future intelligent transportation system. However, current studies mainly focus on the beneficial sides of CAV platoons, and less attention is given to their negative effects. This study develops a mixed equilibrium model for CAV platoons and human-driven vehicles (HDVs), which consider both the positive and negative sides of CAV platooning. On the positive side, CAV platoons are assumed to follow user equilibrium (UE) route choice for their information advantages, while HDVs to follow stochastic user equilibrium (SUE). CAV platoons are also presumed to improve the road capacity. On the negative side, the speed of CAV platoons is slower than that of HDVs for safety stakes, which will impede the latter to overtake. The HDVs is split up into overtaking and nonovertaking flows with different speeds. Furthermore, the model is built up as a mixed UE-SUE equilibrium problem and reformulated as a nonlinear complementarity problem. In addition, an optimal path platooning method is proposed to reduce the negative effects, by integrating travel costs of both CAV platoons and HDVs into its objective function. Numerical results show that the introduction of CAV platoons may increase the travel cost at the initial stage, and the proposed method can effectively reduce the platooning disturbance, thus helps promoting the wider applications of CAV platoons. |
| first_indexed | 2024-04-09T14:06:25Z |
| format | Article |
| id | doaj.art-3bfd9bef5fb74823bd2cc0589c8c6499 |
| institution | Directory Open Access Journal |
| issn | 2042-3195 |
| language | English |
| last_indexed | 2024-04-09T14:06:25Z |
| publishDate | 2023-01-01 |
| publisher | Hindawi-Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj.art-3bfd9bef5fb74823bd2cc0589c8c64992023-05-07T00:00:18ZengHindawi-WileyJournal of Advanced Transportation2042-31952023-01-01202310.1155/2023/9370609A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic FlowKefu Yi0Lixia Tang1Wei Hao2Zhaolei Zhang3Rongdong Hu4Kai Luo5School of Automotive and Mechanical EngineeringSchool of Automotive and Mechanical EngineeringHunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure SystemsHunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure SystemsChangsha Intelligent Driving Institute LtdSchool of Automotive and Mechanical EngineeringAs the emergence of the connected and autonomous vehicles (CAVs), the platooning technology is believed to play a key role in the future intelligent transportation system. However, current studies mainly focus on the beneficial sides of CAV platoons, and less attention is given to their negative effects. This study develops a mixed equilibrium model for CAV platoons and human-driven vehicles (HDVs), which consider both the positive and negative sides of CAV platooning. On the positive side, CAV platoons are assumed to follow user equilibrium (UE) route choice for their information advantages, while HDVs to follow stochastic user equilibrium (SUE). CAV platoons are also presumed to improve the road capacity. On the negative side, the speed of CAV platoons is slower than that of HDVs for safety stakes, which will impede the latter to overtake. The HDVs is split up into overtaking and nonovertaking flows with different speeds. Furthermore, the model is built up as a mixed UE-SUE equilibrium problem and reformulated as a nonlinear complementarity problem. In addition, an optimal path platooning method is proposed to reduce the negative effects, by integrating travel costs of both CAV platoons and HDVs into its objective function. Numerical results show that the introduction of CAV platoons may increase the travel cost at the initial stage, and the proposed method can effectively reduce the platooning disturbance, thus helps promoting the wider applications of CAV platoons.http://dx.doi.org/10.1155/2023/9370609 |
| spellingShingle | Kefu Yi Lixia Tang Wei Hao Zhaolei Zhang Rongdong Hu Kai Luo A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow Journal of Advanced Transportation |
| title | A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow |
| title_full | A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow |
| title_fullStr | A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow |
| title_full_unstemmed | A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow |
| title_short | A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow |
| title_sort | mixed equilibrium model and optimal path platooning method for cav platoons in heterogeneous traffic flow |
| url | http://dx.doi.org/10.1155/2023/9370609 |
| work_keys_str_mv | AT kefuyi amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT lixiatang amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT weihao amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT zhaoleizhang amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT rongdonghu amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT kailuo amixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT kefuyi mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT lixiatang mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT weihao mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT zhaoleizhang mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT rongdonghu mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow AT kailuo mixedequilibriummodelandoptimalpathplatooningmethodforcavplatoonsinheterogeneoustrafficflow |