Hierarchical Control for Heterogeneous Vehicle Platoons at Signalized Intersections

This paper presents a hierarchical control framework for energy-efficient and cooperative driving of heterogeneous vehicle platoons at signalized intersections. The framework consists of three layers: a high-level trajectory planner that generates an optimal eco-driving trajectory for the lead vehicle using signal phase and timing information, a mid-level model predictive controller that ensures accurate trajectory tracking under safety and physical constraints, and a low-level distributed consensus controller that maintains platoon stability and coordination. Simulation studies under representative intersection scenarios validate the proposed framework’s capability to achieve smooth trajectory tracking, robust platoon formation, and significant energy-saving potential.