A flock-like two-dimensional cooperative vehicle formation model based on potential functions. Issue 1 (31st December 2023)

• Record Type: Journal Article
• Authors: Hao, Ruochen; Liu, Meiqi; Ma, Wanjing; van Arem, Bart; Wang, Meng
• Is Part Of: Transportmetrica. Volume 11:Issue 1(2023)
• Page Start: 174
• Page End: 195
• Publication Date: 2023-12-31
• Subjects: Platoon management -- connected and automated vehicle -- platoon formation -- microscopic model; Transportation -- Mathematical models -- Periodicals; 388.015118
• DOI: 10.1080/21680566.2022.2052998
• Languages: English
• ISSNs: 2168-0566

Abstract

Abstract : Due to the manoeuvre complexity, models describing the platoon formation process on urban roads are lacking in the literature. Inspired by flocking behaviours in nature, we proposed a two-dimensional model to describe connected automated vehicle (CAV) group dynamics based on the potential theory, which is composed of the elastic potential energy for the inter-vehicle spring-mass system and the cross-section artificial potential field. The inter-vehicle elastic potential energy enables CAVs to attract each other at long distances, and repel each other otherwise. It also generates incentives for lane changes. The cross-section artificial potential field is able to mimic the lane-keeping behaviour and creates resistance to avoid unnecessary lane changes at very low incentives. These modelling principles can also be applied to human-driven vehicles in a mixed traffic environment. The behavioural plausibility of the model is demonstrated analytically and further verified in a simulation of typical driving scenarios.