Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays

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

doi:10.1109/access.2018.2880572

Cited by 36 publications

(24 citation statements)

References 33 publications

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“…Using Schur complement of (35), (32) and 1 1 ,     P P Q Q , the LMI can be obtained the form (13). …”

Section: B Proof Of Theoremmentioning

confidence: 99%

“…However, these abovementioned methods do not ensure stability and performances under network imperfections (e.g. packet drop and/or delay), parametric uncertainty such as mass of passenger vehicles or engine time constant [12] and external disturbances such as lead vehicle's acceleration, wind gust or road slope [10,[12][13] acting on the vehicles in a platoon.…”

Section: Introductionmentioning

confidence: 99%

“…Although packet drop, communication delays, parametric uncertainty and external disturbances all have been investigated by researchers separately [7,10] or in some combinations [13] for the vehicle platoon control problem but combination of all these issues remains a challenging research problem [9,10]. For example, for short range wireless communication environment among the vehicles in a platoon, a decentralized model predictive controller has been designed under low and high communication latency for longitudinal platoon control problem in [14].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Halder

Montanaro

Gillam

et al. 2020

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)

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This paper proposes a distributed control strategy for homogeneous platoon systems with external disturbances under random packet drop scenario which can occur due to underlying network among the vehicles in a platoon. An linear matrix inequality (LMI) based approach is used to obtain the controller gains for ensuring the stability with bounded H∞ norm for such systems. Effectiveness of the proposed method is demonstrated with numerical results considering different network topologies in a platoon under single packet drop. The variation of H∞ norm bound for different number of platoon members under the different structure of network topologies and the packet drop has been studied in this paper.

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“…Using Schur complement of (35), (32) and 1 1 ,     P P Q Q , the LMI can be obtained the form (13). …”

Section: B Proof Of Theoremmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Halder

Montanaro

Gillam

et al. 2020

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)

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show abstract

“…The control action for string stable operation of a vehicle in the platoon depends on position and speed of neighbouring vehicles in the platoon. In a connected traffic environment these information are transmitted through wireless means that generally introduce transmission delays [35], [36]. Delays in reception/processing of information could adversely affect the platoon performance and might result in string instability.…”

Section: Introductionmentioning

confidence: 99%

A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

et al. 2020

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This paper presents a string stable controller for the autonomous operation of a platoon of Heavy Commercial Road Vehicles (HCRVs) in a connected environment. This study considers factors such as brake/powertrain actuator dynamics, resistive forces, tyre model and wheel dynamics, which are crucial during on-road operation of HCRVs. A nonlinear vehicle dynamic model encompassing all these factors has been considered. The dependency between aerodynamic drag and inter-vehicular distance in the platoon has also been taken into account. The aforementioned factors motivated the use of Sliding Mode Control (SMC), which is a nonlinear and robust control technique. A lower level Proportional Integral Derivative (PID) controller has been successfully integrated with SMC to compensate for pneumatic brake and powertrain system delay. The designed controller was evaluated for string stable platoon operation by considering various road conditions, load conditions and operating speeds. It was observed that the string stable controller performance is highly dependent on the operating conditions. To ensure string stable operation for different operating scenarios, an adaptive time-headway based enhancement has also been integrated in the controller design. The efficacy of the proposed adaptive time-headway policy over the existing constant time-headway policy has been methodically analysed and a performance comparison between them has also been presented. The aspect of communication delay during connected vehicular operation has also been studied and the maximum tolerable communication delay magnitude for maintaining string stable operation has also been presented.

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“…Recently, Xu et al [19] proposed a control strategy to guarantee the string stability of a heterogeneous vehicle platoon subject to varying road slopes, aerodynamic drag, and wireless communication delay.…”

Section: Introductionmentioning

confidence: 99%

An Ecological Adaptive Cruise Control for Mixed Traffic and Its Stabilization Effect

Dong

et al. 2019

IEEE Access

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With the rapid development of technologies, the ecological control strategies of connected and autonomous vehicle (CAV) technologies are gaining more and more attention. In this paper, a rule-based ecological cruise control, called the ecological smart driver model (EcoSDM), is proposed to improve the fuel efficiency of an individual vehicle and the traffic flow. By adjusting the spacing between the leading and the following vehicles, EcoSDM provides smoother deceleration and acceleration than the enhanced intelligent driver model (Enhanced-IDM) and the smart driver model (SDM). The linear stability of EcoSDM is analyzed both theoretically and numerically. The numerical results validate the results of theoretical analysis. Moreover, the simulations results show that EcoSDM outperforms the Enhanced-IDM and SDM in terms of stabilization effect on homogeneous traffic flow. In addition, the calibrated VT-Micro model is used to estimate the fuel consumption of CAVs and manually driven vehicles. The result shows that CAVs have better fuel economy than the human-driven vehicles, which is consistent with existing studies. The EcoSDM outperforms Enhanced-IDM and SDM in terms of fuel consumption. For the EcoSDM-equipped CAVs, the fuel saving benefit is greatest when a CAV is at the front of the platoon. INDEX TERMS Connected and autonomous vehicle (CAV), ecological adaptive cruise control, linear stability.

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Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays

Cited by 36 publications

References 33 publications

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

An Ecological Adaptive Cruise Control for Mixed Traffic and Its Stabilization Effect

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