Stop-and-Go Traffic Wave Attenuation: A Shared Control Approach

We present a novel approach to address the challenge of stop-and-go wave mitigation in congested vehicular traffic scenarios. The proposed solution involves equipping human-driven vehicles with a controller that can effectively assist the driver by merging human input with the underlying automation input through arbitration. Specifically, our approach integrates a convex combination of human and automation inputs within the controller through a continuous and derivable sharing function. This integration allows for the fusion of human decision-making capabilities with automation's perception of the environment. We provide extensive microscopic simulation results to demonstrate the effectiveness of the proposed approach. In addition, some theoretical guarantees are established for both the stability of individual vehicles and the string stability.