Mixed Multi-Vehicle Cooperative-Driving Control Considering Communication Delays at Non-Signal-Controlled Intersections

To improve the safety performance and car-following performance of mixed traffic under the time-varying communication delay at non-signal-controlled intersections, the mixed multi-vehicle cooperative-driving control method is proposed. In the method, the mixed-platoon model-free adaptive prediction and cooperative-driving controller and mixed multi-vehicle formation scheme are studied, respectively. By adaptively adjusting the data mapping model parameters of the corresponding mixed platoons using only the real-time data during dynamic driving, the Edge Cloud Computing (ECC) controller is able to adaptively calculate the parametric cooperative control law equivalent to the desired states of the system according to the dynamic environmental changes, and then realize the effective cooperation and control of the mixed vehicle group by using Intelligent Connected Vehicles (ICVs) to guide the speed of the mixed platoons. Finally, a two-junction micro-traffic scenario is constructed to verify the effectiveness and feasibility of the method.