Energy-oriented cruising strategy design of vehicle platoon considering communication delay and disturbance

Xu, Liwei; Zhuang, Weichao; Yin, Guodong; Bian, Chentong

doi:10.1016/j.trc.2019.07.019

Cited by 53 publications

(17 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This controller contains three portions p i, 1 , p i, 2 and p i, 3 . p i, 1 is adequate to enable the nominal system to follow the constrains (17) and (22) in the absence of uncertainties and initial constraint deviations.…”

Section: Adaptive Constraint-following Controlmentioning

confidence: 99%

“…The connected and automated vehicular platoon has received tremendous attention in recent years, due to its transformative impact on road transportation, e.g. enhancing highway safety, increasing road capacity and reducing fuel consumption [1][2][3]. The control of a vehicular platoon contains two parts: the longitudinal cooperation control and the lateral control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Yang

Huang

et al. 2020

IET Control Theory & Appl

View full text Add to dashboard Cite

The safety of a vehicular platoon is seriously threatened in the presence of actuator saturations, (possibly fast) timevarying non-linear uncertainties. Meanwhile, the string stability and the strong string stability cannot eliminate the potential safety hazard caused by large initial error conditions. This study focuses on safety-guaranteed distributed control of the vehicular platoon with a bidirectional communication topology and the constant time headway policy. The authors formulate bilateral inequality constraints on the spacing error between adjacent vehicles to represent the collision-avoidance and compact formation performance. A novel state transformation technique is proposed to convert the bounded spacing error space to an unconstrained state space. On the basis, Comprehensive equality constraints for the transformed states are established by integrating the information of proximal (preceding and following) vehicles. In addition, an anti-windup compensation method is utilised to handle actuator saturations. Then an adaptive constraint-following controller is designed to render the uniform boundedness and uniform ultimate boundedness performance of the transformed state. As a result, the string stability, the strong string stability, the collision-avoidance and compact formation are guaranteed despite the presence of actuator saturations and complex uncertainties. Numerical simulations are performed to validate the effectiveness of the proposed control scheme.

show abstract

Section: Adaptive Constraint-following Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Yang

Huang

et al. 2020

IET Control Theory & Appl

View full text Add to dashboard Cite

show abstract

“…Particularly, multiple CAVs can use information from other neighbouring vehicles and in some cases from the leading vehicle, and cooperate with each other to move at a desired speed with prescribed distances between adjacent vehicles, the so-called platooning technology [1]. Such automated highways promise to enhance traffic capacity and smoothness [2], and thus to improve fuel economy [3] and reduce pollution [4,5]. However, due to the tight coupling and the decentralised nature of large-scale platoons, many fundamental dynamic behaviours, such as stability and scalability, need to be understood before automated highway technology matures [1,6,7].…”

Section: Introductionmentioning

confidence: 99%

Study on stability and scalability of vehicular platoon with a bidirectional ring interconnection

Zhang

Wang

2021

IET Intelligent Trans Sys

View full text Add to dashboard Cite

This paper studies the stability and scalability of the platoon where multiple vehicles move in a closed roadway and are coupled in a bidirectional ring. Each vehicle regulates its longitudinal motion based on bidirectional asymmetric control with triple asymmetry factors. By exploiting Hermite stability criterion, we derive necessary and sufficient conditions of stability for the n-vehicle platoon. Based on parametric robustness analysis, necessary and sufficient conditions of scalably asymptotic stability are further obtained, meaning that the stability is independent of the number of vehicles in the platoon. It is proved that symmetric spacing feedback is necessary for scalably asymptotic stability and the first spatial mode is the least stable among all the non-zero modes. Numerical computations show that the stability region in the space of feedback gains is favourable when the asymmetry level on speed gain is small and the asymmetry level on acceleration gain is large, whereas it may deteriorate rapidly when these two asymmetry factors have different signs.

show abstract

“…Although the deployment of CADEVs will play a crucial role in eco-intelligent transportation systems, only few works explored the energy-saving benefit of an EVs platoon consisting of more than two vehicles [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Distributed Nonlinear Model Predictive Control for Connected Autonomous Electric Vehicles Platoon with Distance-Dependent Air Drag Formulation

et al. 2021

View full text Add to dashboard Cite

This paper addresses the leader tracking problem for a platoon of heterogeneous autonomous connected fully electric vehicles where the selection of the inter-vehicle distance between adjacent vehicles plays a crucial role in energy consumption reduction. In this framework, we focused on the design of a cooperative driving control strategy able to let electric vehicles move as a convoy while keeping a variable energy-oriented inter-vehicle distance between adjacent vehicles which, depending on the driving situation, was reduced as much as possible to guarantee air-drag reduction, energy saving and collision avoidance. To this aim, by exploiting a distance-dependent air drag coefficient formulation, we propose a novel distributed nonlinear model predictive control (DNMPC) where the cost function was designed to ensure leader tracking performances, as well as to optimise the inter-vehicle distance with the aim of reducing energy consumption. Extensive simulation analyses, involving a comparative analysis with respect to the classical constant time headway (CTH) spacing policy, were performed to confirm the capability of the DNMPC in guaranteeing energy saving.

show abstract

Energy-oriented cruising strategy design of vehicle platoon considering communication delay and disturbance

Cited by 53 publications

References 33 publications

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Safety‐guaranteed constraint‐oriented modelling and control for bidirectional vehicular platoons

Study on stability and scalability of vehicular platoon with a bidirectional ring interconnection

Distributed Nonlinear Model Predictive Control for Connected Autonomous Electric Vehicles Platoon with Distance-Dependent Air Drag Formulation

Contact Info

Product

Resources

About