Hierarchical and Distributed Eco-Driving Approach for Mixed Vehicle Clusters at Unsignalized Intersections

Table 1

The major acronyms used in this paper.

Abbreviations	Descriptions
MPRs	Market penetration rates
ICVs	Intelligent and connected vehicles
HDVs	Human-driven vehicles
MFAPCD	Model-free adaptive predictive cooperative driving
CFDL	Compact form dynamic linearization
CFDL-ITSMPC	CFDL integral terminal sliding mode predictive control
CFDL-PC	CFDL predictive control
NDMPC	Nonlinear distributed model predictive control
iCACC	Improved cooperative adaptive cruise control
EC	Edging computing
MFAC	Model-free adaptive control
PPD	Pseudopartial-derivative
RSUs	Road-side unit
IDM	Intelligent driver model
MPC	Model predictive control
STA	Signal time assignment
W-E	Western entrance to the eastern exit
N-S	Northern entrance to the southern exit