Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach

@article{Hu2020CooperativeCO,
  title={Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach},
  author={Junyan Hu and Parijat Bhowmick and Farshad Arvin and Alexander Lanzon and Barry Lennox},
  journal={IEEE Robotics and Automation Letters},
  year={2020},
  volume={5},
  pages={977-984}
}
Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing… 

Figures and Tables from this paper

Resource-Efficient Platooning Control of Connected Automated Vehicles Over VANETs

This paper is concerned with distributed cooperative longitudinal platooning control of connected automated vehicles over resource-constrained vehicular ad-hoc networks. First, a general

Distributed Observers-based Cooperative Platooning Tracking Control and Intermittent Optimization for Connected Automated Vehicles with Unknown Jerk Dynamics

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more

Centralized Model-Predictive Control with Human-Driver Interaction for Platooning

—Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control

Scalable and Resilient Platooning Control of Cooperative Automated Vehicles

This paper addresses the problem of distributed cooperative longitudinal control of automated vehicle platoons subject to a variety of uncertainties, including unknown engine time lags, external

Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers

A Distributed Nonlinear MPC is proposed, based upon an existing approach, to control a heterogeneous dynamic platoon with unidirectional topologies, handling possible cut-in/cut-out maneuvers, and the effectiveness of the introduced method is shown.

Distributed Model Predictive Control of Connected Multi-Vehicle Systems at Unsignalized Intersections

This paper develops a real-time receding-horizon planning approach, which improves plan consistency by reasoning about and reusing the previous trajectory, and develops a distributed model predictive controllers, which track the resulting reference trajectories and avoid collisions by allowing neighboring vehicles to exchange their intentions.

Dynamic Event-Triggered Vehicle Platooning Control: Trade-off Between Communication Efficiency and Platoon Performance

This paper addresses the co-design problem of event-triggered communication scheduling and cooperative longitudinal control for automated vehicles subject to unknown external disturbances and

Scalable Controller and Topology Co-Design for Automated Vehicle Platoons

This paper is concerned with the design problem of distributed cooperative longitudinal controller and communication topology for automated vehicle platoons subject to heterogenous and uncertain

Connected and Automated Vehicle Platoon Formation Control via Differential Games

In this study, the connected and automated vehicles (CAVs) platooning problem is re-solved under a differential game framework. Three information topologies are considered here. Firstly,

Distributed Dynamic Platoons Control and Junction Crossing Optimization for Mixed Traffic Flow in Smart Cities- Part II. Stability, Optimization, and Performance Analysis

Performance analysis and case studies are presented to illustrate the effectiveness of the proposed approaches for multiple platoon dynamic management, which show that the cooperation between CAVs and human-driven vehicles(HDVs) can further smooth out the driving trajectory, reduce the fuel consumption, and enhance the safety of the mixed traffic flow.
...

References

SHOWING 1-10 OF 25 REFERENCES

Stable Decentralized Control of a Platoon of Vehicles With Heterogeneous Information Feedback

The problem of controlling a string of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant spacing between successive vehicles and the negative effect of the tracking lag parameter is taken into account.

Adaptive Bidirectional Platoon Control Using a Coupled Sliding Mode Control Method

Unlike the previous work using the bidirectional strategy, the proposed adaptive platoon-control law can lead to improved control performance of the whole system and can guarantee string stability.

Distributed Adaptive Integrated-Sliding-Mode Controller Synthesis for String Stability of Vehicle Platoons

This paper presents a distributed finite-time adaptive integral-sliding-mode (ISM) control approach for a platoon of vehicles consisting of a leader and multiple followers subjected to bounded unknown disturbances to overcome string instability caused by nonzero initial spacing errors.

Controller Synthesis for String Stability of Vehicle Platoons

A controller design method is developed that allows for explicit inclusion of the string stability requirement in the controller synthesis specifications, and L2 string-stable platooning strategies are obtained in both cases, revealing that the two-vehicle look-ahead topology is particularly effective at a larger communication delay.

Adaptive Optimal Control of Heterogeneous CACC System With Uncertain Dynamics

A new control structure is proposed that uses an estimate of dynamic parameters to transform the heterogeneous CACC problem into the regulation problem of error dynamics for each vehicle in the platoon.

Cooperative Control of Heterogeneous Connected Vehicles with Directed Acyclic Interactions

The tracking ability of heterogeneous platoons is explicitly highlighted, and a synthesis method based on the solution to an algebraic Riccati equation that shares the dimension of single vehicle dynamics is proposed.

Practical String Stability of Platoon of Adaptive Cruise Control Vehicles

  • Lingyun XiaoF. Gao
  • Engineering
    IEEE Transactions on Intelligent Transportation Systems
  • 2011
This paper provides a practical means to evaluate the ACC systems applying the sliding-mode controller and provides a reasonable proposal to design the ACC controller from the perspective of the practical string stability.

Decentralized Platooning With Obstacle Avoidance for Car-Like Vehicles With Limited Sensing

This letter considers the predecessor-following control problem for a platoon of car-like vehicles moving on a planar surface with cyclic obstacles and designs a fully decentralized control scheme, in the sense that each vehicle calculates its own control signal incorporating only local information, acquired by its on-board camera and laser scanner.

Lp String Stability of Cascaded Systems: Application to Vehicle Platooning

A novel definition for string stability of nonlinear cascaded systems is proposed, using input-output properties, and is shown to result in well-known string stability conditions for linear cascading systems.

Direct adaptive longitudinal control of vehicle platoons

This work addresses the problem of stability of a vehicle string in the presence of parametric uncertainty and presents a Lyapunov-based decentralized adaptive control algorithm to compensate for such parametric variations.