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

Table 4

System key parameters setting [24, 26].

Physical meanings	Variables	Numerical values (unit)
Initial speed	,	10 m/s
Minimum car-following distance		5 m
Time-step		0.1
Headway		0.65
Maximum acceleration		2 m/s^2
Minimum acceleration		−2 m/s^2
Prediction time-domain		10
Control time-domain		3
Order of parameter prediction		3