@article{ref1,
title="Rolling horizon control framework for driver assistance systems. Part II: Cooperative sensing and cooperative control",
journal="Transportation research part C: emerging technologies",
year="2014",
author="Wang, Meng and Daamen, Winnie and Hoogendoorn, Serge P. and van Arem, Bart",
volume="40",
number="",
pages="290-311",
abstract="This contribution furthers the control framework for driver assistance systems in Part I to cooperative systems, where equipped vehicles can exchange relevant information via vehicle-to-vehicle communication to improve the awareness of the ambient situation (cooperative sensing) and to manoeuvre together under a common goal (cooperative control). To operationalize the cooperative sensing strategy, the framework is applied to the development of a multi-anticipative controller, where an equipped vehicle uses information from its direct predecessor to predict the behaviour of its pre-predecessor. To operationalize the cooperative control strategy, we design cooperative controllers for sequential equipped vehicles in a platoon, where they collaborate to optimise a joint objective. The cooperative control strategy is not restricted to cooperation between equipped vehicles. When followed by a human-driven vehicle, equipped vehicles can still exhibit cooperative behaviour by predicting the behaviour of the human-driven follower, even if the prediction is not perfect. The performance of the proposed controllers are assessed by simulating a platoon of 11 vehicles with reference to the non-cooperative controller proposed in Part I. Evaluations show that the multi-anticipative controller generates smoother behaviour in accelerating phase. By a careful choice of the running cost specification, cooperative controllers lead to smoother decelerating behaviour and more responsive and agile accelerating behaviour compared to the non-cooperative controller. The dynamic characteristics of the proposed controllers provide new insights into the potential impact of cooperative systems on traffic flow operations, particularly at the congestion head and tail.<p />",
language="en",
issn="0968-090X",
doi="10.1016/j.trc.2013.11.024",
url="http://dx.doi.org/10.1016/j.trc.2013.11.024"
}