A 2D-connected automated vehicle car-following control algorithm

Car-following prevails in daily traffic under various scenarios. However, most connected automated vehicle (CAV) car-following algorithms in the literature only apply to one-dimensional CAV control, which limits the application scenarios. This paper presents a two-dimensional (2D) CAVs car-following strategy on curved roads in the spatial domain with vehicle-to-vehicle and vehicle-to-infrastructure communication to expand the car-following application scenarios. This control strategy constructs a 2D car-following equilibrium policy by extending the simplified Newell's car-following model. Based on that, a constrained optimal CAV car-following control in the spatial domain is constructed to maintain the inter-vehicle spacing and speed difference while regulating the lane deviation and avoiding work zones. As demonstrated by numerical results, our proposed algorithm maintains a high degree of consistency between equilibrium spacing and vehicle speed while duplicating the trajectory of the leading vehicle, implying empirical string stability. The results also suggest the robustness of handling different scenarios.