A Car-Following Model for Connected and Automated Vehicles With Heterogeneous Time Delays Under Fixed and Switching Communication Topologies

Li, Yongfu; Chen, Bangjie; Zhao, Hang; Peeta, Srinivas; Hu, Jun; Wang, Yibing; Zheng, Zuduo

doi:10.1109/tits.2021.3134419

Cited by 25 publications

(10 citation statements)

References 37 publications

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“…Similarly, it can be verified that v 1 given by ( 25) satisfies (34). Therefore, v i satisfies (34) for all i = 1, … , n. From (20) and using Fact 2, the matrix V −1 can be determined in form of ( 23) and ( 28)- (31). □…”

Section: Lemma 1 the Matrixmentioning

confidence: 98%

“…Information exchange among the vehicles via a connected information topology is necessary for platoon formation control. Following [34], we distinguish between connection links among vehicles by categorising them into V2V connection links and sensor connection links. A sensor link emphasises the information flow from the predecessor vehicle to the ego vehicle (see Figure 1).…”

Section: Predecessor-following Topologymentioning

confidence: 99%

See 1 more Smart Citation

Connected and automated vehicle platoon formation control via differential games

Jond

Yildiz

2022

IET Intelligent Trans Sys

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In this study, the connected and automated vehicles platooning problem is resolved under a differential game framework. Three information topologies are considered here. Firstly, the Predecessor-following topology is utilised where the vehicles control the distance with respect to the merely nearest predecessor via a sensor link-based information flow. Secondly, the Two-predecessor-following topology is exploited where each vehicle controls the distance with respect to the two nearest predecessors. In this topology, the second predecessor is communicated via a Vehicle-to-vehicle link. The individual trajectories of connected and automated vehicles under the Nash equilibrium are derived in closed-form for these two information topologies. Finally, general information topology is examined and the differential game is formulated in this context. In all these options, Pontryagin's principle is employed to investigate the existence and uniqueness of the Nash equilibrium and obtain its corresponding trajectories. In the general topology, we suppose numerical computation of eigenvalues and eigenvectors. Finally, the stability behaviour of the platoon for the Predecessor-following, Two-predecessor-following and general topologies are investigated. All these approaches represent promising and powerful analytical representations of the connected and automated vehicle platoons under the differential games. Simulation experiments have verified the efficiency of the proposed models and their solutions as well as their better results in comparison with the Model Predictive Control.

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Section: Lemma 1 the Matrixmentioning

confidence: 98%

Section: Predecessor-following Topologymentioning

confidence: 99%

Connected and automated vehicle platoon formation control via differential games

Jond

Yildiz

2022

IET Intelligent Trans Sys

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show abstract

“…Assume that the vehicles platoon consists of n+1 vehicles including one leader if 𝑟 𝑖,𝑙 = 0, it means that the vehicle communication is disconnected; 𝜇 𝑖,𝑙 is defined as the communication weight coefficient between vehicle i and vehicle l [9], which is defined as follows, (5)…”

Section: V2v Systemmentioning

confidence: 99%

“…The communication topology determines the information interaction between the member vehicles within the platoon and extends the environmental perception range of the self-vehicle, and different communication topologies correspond to different vehicle platoon performances. Li et al [9,10] studied the impact of switching communication topology on the dynamic performance of connected vehicles based on car-following model. Li et al [11] extend existing studies on distributed platoon control to more generic topologies with complex eigenvalues.…”

Section: Introductionmentioning

confidence: 99%

An Improved Adaptive Exponential Reaching Sliding Mode Control Strategy for Intelligent Connected Vehicle System under Complex Communication Environment and Different Types of Interference

Song

Wang

et al. 2023

Preprint

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This paper studies the performance of a nonlinear sliding mode controller in the cooperative control of the intelligent connected vehicles system. The study begins by proposing a V2V car-following model that takes into account the impacts of disturbances both external and within in the system. Subsequently, an improved adaptive exponential reaching sliding mode controller (IAERSMC) based on a non-singular terminal sliding mode variable is proposed. It is shown through theoretical analysis that with this controller, the system can converge in finite time and enhance dynamic performance. To verify the effectiveness of the controller proposed in this study, two simulation experiments are designed and performed. The first experiment tests the change of communication environment by transforming the communication topology, and the second experiment tests response to three different types of input interference: continuous regular interference, continuous irregular interference, and episodic disturbance. Simulation results show that the controller proposed in this study can maintain a stable operating state of the intelligent connected vehicles system in the face of the complex variable communication environments and different types of interference. The theoretical analysis agrees with the results of the simulated experiments.

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“…Information exchange among the vehicles via a connected information topology is necessary to platoon formation control. Following [28], we distinguish between connection links among vehicles by categorizing them into V2V connection links and sensor connection links. A sensor link emphasis the information flow from the predecessor vehicle to the ego vehicle (see Figure 1).…”

Section: Predecessor-following (Pf) Topologymentioning

confidence: 99%

Connected and Automated Vehicle Platoon Formation Control via Differential Games

Jond¹,

Yildiz²

2022

Preprint

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In this study, the connected and automated vehicles (CAVs) platooning problem is resolved under a differential game framework. Three information topologies are considered here. Firstly, Predecessor-following (PF) topology is utilized where the vehicles control the distance with respect to the merely nearest predecessor via a sensor link-based information flow. Secondly, Two-predecessor-following topology (TPF) is exploited where each vehicle controls the distance with respect to the two nearest predecessors. In this topology, the second predecessor is communicated via a Vehicle-to-vehicle (V2V) link. The individual trajectories of CAVs under the Nash equilibrium are derived in closed-form for these two information topologies. Finally, general information topology is examined and the differential game is formulated in this context. In all these options, Pontryagin's principle is employed to investigate the existence and uniqueness of the Nash equilibrium and obtain its corresponding trajectories. In the general topology, we suppose numerical computation of eigenvalues and eigenvectors. All these approaches represent promising and powerful analytical representations of the CAV platoons under the differential games. Simulation experiments have verified the efficiency of the proposed models and their solutions.

show abstract

A Car-Following Model for Connected and Automated Vehicles With Heterogeneous Time Delays Under Fixed and Switching Communication Topologies

Cited by 25 publications

References 37 publications

Connected and automated vehicle platoon formation control via differential games

Connected and automated vehicle platoon formation control via differential games

An Improved Adaptive Exponential Reaching Sliding Mode Control Strategy for Intelligent Connected Vehicle System under Complex Communication Environment and Different Types of Interference

Connected and Automated Vehicle Platoon Formation Control via Differential Games

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