Hierarchical model-based predictive control for Intelligent Vehicle Highway Systems: Regional controllers

We consider a hierarchical control approach for Intelligent Vehicle Highway Systems (IVHS), in which intelligent automated vehicles organized in platoons drive to their destination, controlled by a hierarchical control framework. In this framework there are several levels of controllers starting from on-board controllers inside the vehicles, over platoon controllers, to roadside and area controllers, and finally regional and supraregional controllers. In earlier work we have already described the roadside and the area controllers. In this paper we extend these results by focusing on the higher-level regional and supraregional controllers and by describing in more detail how the interactions between the different control levels work.