Ecological Cooperative Adaptive Cruise Control for a Heterogeneous Platoon of Heavy-Duty Vehicles With Time Delays

Abstract

To deal with energy crisis and environmental issues, higher fuel economy standards and more stringent limitations on greenhouse gas emissions for ground vehicles have been made. Ecological cooperative adaptive cruise control (Eco-CACC) has been considered as an effective solution to decrease the fuel consumption and greenhouse gas emissions of a platoon of vehicles, and this paper proposes an Eco-CACC strategy for a heterogeneous platoon of heavy-duty vehicles with time delays. The proposed Eco-CACC strategy consists of distributed control protocols for the following vehicles and a new model predictive controller for the leading one. Firstly, after the distributed control protocols are designed based on the neighboring vehicle information, the sufficient conditions that guarantee the internal stability and string stability are derived, and the upper bound of the time delays under controller parameters is also obtained. Secondly, assuming the vehicle platoon as a rigid body with followers staying at desired positions, the new model predictive controller is designed in order to further improve the overall fuel economy of vehicle platoon. Simulations are conducted to validate the sufficient conditions of internal stability and string stability, and to explore the fuel saving performance of the proposed control strategy. The simulation results demonstrate that, compared with the benchmark, the proposed Eco-CACC strategy can significantly improve the fuel economy of heterogeneous platoon.

A Virtually Coupled Metro Train Platoon Control Approach Based on Model Predictive Control

“…The constraint of Eq. (16) can then be simplified to a linear constraint and expressed as (18) where…”

“…In [17], a distributed MPC with multiple objectives of a heterogeneous vehicle platoon was presented, and the fuel consumption table was calculated offline to reduce the computational burden. To ensure the internal stability and string stability of a platoon, [4,[18][19][20] derived and proved a sufficient condition for local stable and string stability that guides the selection of controller parameters of feedback gains and the desired time gap. Because the vehicle system parameter is vital to the control of a platoon, [21] developed a realistic and collision-free car-following model for vehicles with adaptive cruise control-cooperative adaptive cruise control.…”

The Eco-Driving Considering Coordinated Control Strategy for the Intelligent Electric Vehicles

“…Meanwhile, the braking force distribution mechanism can realize the regenerative and hydraulic braking simultaneously [32]. The dynamic response characteristics of in-wheel motors and hydraulic response characteristics need to be compensated in different braking stage and regenerative braking energy should be recycled to the maximum extent [33,34]. The braking torque of the lower-level distribution controller is used to compensate for the insufficient braking torque to realize a smooth transition between the braking modes [35].…”

Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

“…Safety controller served to maintain the safety distance between vehicles when DMPCMO cannot solve the optimization problem. In their next work, they proposed a combination of ecological and platooning vehicles with CACC mode, called Eco-CACC [38]. The Eco-CACC succeeded to improve the efficiency of fuel consumption.…”