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Platoon Centered Control for Eco-driving at Signalized Intersection Built upon Hybrid MPC System

Even though extensive studies have developed various eco-driving strategies for vehicle platoon to travel on urban roads with traffic signals, most of them focus on vehicle-level trajectory planning or speed advisory rather than real-time platoon-level closed-loop control. In addition, majority of existing efforts neglect the traffic and vehicle dynamic uncertainties to avoid the modeling and solution complexity. To make up these research gaps, this study develops a system optimal vehicle platooning control for eco-driving (SO-ED), which can guide a mixed flow platoon to smoothly run on the urban roads and pass the signalized intersections without sudden deceleration or red idling. The SO-ED is mathematically implemented by a hybrid model predictive control (MPC) system, including three MPC controllers and an MINLP platoon splitting switching signal. Based on the features of the system, this study uses active set method to solve the large-scale MPC controllers in real time. The numerical experiments validate the merits of the proposed SO-ED in smoothing the traffic flow and reducing energy consumption and emission at urban signalized intersections.