A Leader-Based Vehicle Platoon Control Strategy at Signalized Intersections Considering Efficiency

  • Jian Zhang
  • Tie-Qiao TangEmail author
  • Yang Yu
  • Xiaobo Qu
Conference paper
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 185)


In this paper, we propose a leader-based control strategy for vehicle platoon at signalized intersections. The speed guidance which regards the states of followers and the signal phase and timing (SPaT) information is adopted for the leader of the platoon. The Cooperative Adaptive Cruise Control (CACC) with a piecewise policy is used to control the followers. The efficiency of the signalized intersection is specifically considered when constructing the control strategy. The simulation results show that the proposed strategy can control the vehicle platoon smoothly cross signalized intersections without stop and ensure the traffic efficiency simultaneously.



This work was supported by the National Natural Science Foundation of China (71422001).


  1. 1.
    Zhou, M., Qu, X., Jin, S.: On the impact of cooperative autonomous vehicles in improving freeway merging: A modified intelligent driver model based approach. IEEE Trans. Intell. Transp. Syst. 18, 1422–1428 (2017)Google Scholar
  2. 2.
    Li, X., Ghiasi, A., Xu, Z., Qu, X.: A piecewise trajectory optimization model for connected automated vehicles: Exact optimization algorithm and queue propagation analysis. Transp. Res. Part B 118, 429–456 (2018)CrossRefGoogle Scholar
  3. 3.
    Duret, A., Wang, M., Ladino, A.: A hierarchical approach for splitting truck platoons near network discontinuities. Transp. Res. Part B (2019)Google Scholar
  4. 4.
    Xu, C., Yang, Y., Jin, S., Qu, Z., Hou, L.: Potential risk and its influencing factors for separated bicycle paths. Accid. Anal. Prev. 87, 59–67 (2016). Scholar
  5. 5.
    Flores, C., Milanés, V.: Fractional-order-based ACC/CACC algorithm for improving string stability. Transp. Res. Part C 95, 381–393 (2018)CrossRefGoogle Scholar
  6. 6.
    Zhou, M., Yu, Y., Qu, X.: Development of an efficient driving strategy for connected and automated vehicles at signalized intersections: A reinforcement learning approach. IEEE Trans. Intell. Transp. Syst. 21, 433–443 (2020)CrossRefGoogle Scholar
  7. 7.
    Bie, Y., Xiong, X., Yan, Y., Qu, X.: Dynamic headway control for high-frequency bus line based on speed guidance and intersection signal adjustment. Comput Aided Civ. Infrastruct. Eng. 35, 4–25 (2020)CrossRefGoogle Scholar
  8. 8.
    Darbha, S., Rajagopal, K.R.: Intelligent cruise control systems and traffic flow stability. Transp. Res. Part C 7, 329–352 (1999)CrossRefGoogle Scholar
  9. 9.
    Rajamani, R., Shladover, S.E.: Experimental comparative study of autonomous and co-operative vehicle-follower control systems. Transp. Res. Part C 9, 15–31 (2001)CrossRefGoogle Scholar
  10. 10.
    Gipps, P.G.: A behavioural car-following model for computer simulation. Transp. Res. Part B 15, 105–111 (1981)CrossRefGoogle Scholar
  11. 11.
    Ubiergo, G.A., Jin, W.L.: Mobility and environment improvement of signalized networks through vehicle-to-infrastructure (V2I) communications. Transp. Res. Part C 68, 70–82 (2016)CrossRefGoogle Scholar
  12. 12.
    Qu, X., Wang, S., Zhang, J.: On the fundamental diagram for freeway traffic: A novel calibration approach for single-regime models. Transp. Res. Part B 73, 91–102 (2015)CrossRefGoogle Scholar
  13. 13.
    Qu, X., Zhang, J., Wang, S.: On the stochastic fundamental diagram for freeway traffic: Model development, analytical properties, validation, and extensive applications. Transp. Res. Part B 104, 256–271 (2017)CrossRefGoogle Scholar
  14. 14.
    Qu, X., Yu, Y., Zhou, M., Lin, C.T., Wang, X.: Jointly dampening traffic oscillations and improving energy consumption with electric, connected and automated vehicles: A reinforcement learning based approach. Appl. Energy 257, 114030 (2020)CrossRefGoogle Scholar

Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Transportation Science and EngineeringBeihang UniversityBeijingChina
  2. 2.School of Civil and Environmental EngineeringUniversity of Technology SydneySydneyAustralia
  3. 3.Department of Architecture and Civil EngineeringChalmers University of TechnologyGothenburgSweden

Personalised recommendations