Centralized and decentralized distributed control of longitudinal vehicular platoons with non‐uniform communication topology

Chehardoli, Hossein; Ghasemi, Ali; Najafi, Ali

doi:10.1002/asjc.2235

Cited by 29 publications

(24 citation statements)

References 26 publications

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“…In the existing studies on vehicle platoon control, the exact linearization is utilized to derive an exact linear model for the upper level longitudinal dynamics of a vehicle. To describe the upper level longitudinal dynamics, some researchers employed second-order differential models [3], [15], [16], while others adopted third-order differential models [5], [26], [27]. In this paper, a second-order differential model will be applied to describe the upper level longitudinal dynamics of vehicles in the platoon.…”

Section: A Longitudinal Dynamics Model Of Vehicle Platoonmentioning

confidence: 99%

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

et al. 2020

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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.

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Section: A Longitudinal Dynamics Model Of Vehicle Platoonmentioning

confidence: 99%

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

et al. 2020

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“…A platoon with linear time-invariant dynamics is internally stable if and only if all real part of eigenvalues of the closed-loop system matrix is located in the left half plane of the complex system. On the other hand, string stability deals with how the error is propagated through the vehicle string due to disturbances or the reference trajectory (Chehardoli et al, 2019; Feng et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of connected vehicles with V2V communication and time delays: CTCR method via Bézout’s resultant

Akkaya

Akbati

Ergenç

2021

Transactions of the Institute of Measurement and Control

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This paper is focused on the distributed control of connected vehicles via vehicle-to-vehicle (V2V) communication. A mixed predecessor following topology with a virtual leader under constant time headway policy is analysed in case of communication and input delays. The longitudinal dynamics of each vehicle in the platoon is represented by a third-order linear model. Unavoidable communication and input delays are introduced into the platoon structure which converts the characteristic equation of the system into a transcendental type. The stability regions of the system in delay space are obtained by utilizing the cluster treatment of characteristic root (CTCR) method in the case of single and multiple time delays. A new Bézout resultant matrix-based approach is proposed to determine the kernel and offspring hypersurfaces of the CTCR method. The determination of these kernel and offspring hypersurfaces becomes computational costly as the number of vehicles increases in the platoon due to the increasing degree of characteristic equation. However, the proposed method reduces the dimensions of the coefficient matrix which is created by using the characteristic equation. It is concluded that the proposed method confirms the internal stability of the connected vehicles with both generic information flow topologies and formation between vehicles under single and multiple time delays. Thereafter, a local string stability definition is proposed in terms of spacing errors. Sufficient conditions to obtain string stability under mixed predecessor following topology for the existence and nonexistence of time delay are given. Finally, several simulation studies with different scenarios are conducted to display the effectiveness of the proposed model and method for internal and string stabilities.

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“…Besides, CTG policy may result in large spacing, hence, decreasing traffic throughput [4,5]. To fill this gap, some researchers proposed several time-variant desire time gap policies adapting to the real-time traffic environment [6][7][8]. In addition, some researchers integrated macroscopic traffic flow parameters, such as jam density and free-flow speed, into the desired time gap function [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Effect of Adaptive Cruise Control on Mixed Traffic Flow: A Comparison of Constant Time Gap Policy with Variable Time Gap Policy

Dong

Chen

Gao

et al. 2021

Journal of Advanced Transportation

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With the emerging application of low-level driving automation technology, heterogeneous traffic flow mixed with human-driven vehicles and low-level autonomous vehicles is dawning. In this context, it is imperative to investigate its effect on mixed traffic flow. As a key component for adaptive cruise control (ACC) which is a practical low-level application of driving automation, the time gap policy determines the dynamic of ACC-equipped vehicles and plays a crucial role in traffic flow stability and efficiency. There are two main time gap policies used for ACC at present, namely, constant time gap (CTG) policy and variable time gap (VTG) policy. In this study, we carried out a detailed comparison between these time gap policies to investigate their potential effect on mixed traffic flow, where the analytical- and simulation-based approaches are both considered. Analytical results show that VTG policy is superior to CTG policy in stabilizing the mixed traffic flow. In addition, numerical simulations are also conducted and simulation results further support the analytical results. As for throughput, there is no difference between CTG policy and VTG policy in analytical progress when the same time gap is set at the equilibrium. However, simulation results based on an on-ramp scenario show that the throughput of mixed traffic flow with VTG policy is slightly higher than that of CTG policy. Meanwhile, the scatter of mixed traffic flow with VTG policy in the flow-density diagram gradually clusters in the middle range of density (i.e., 20–40 veh/km) with the increase of the penetration rates of ACC vehicles, where the traffic flow operates more efficiently. These results indicate that VTG policy is better than CTG policy when designing controllers for ACC in the context of traffic flow operation and control.

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Centralized and decentralized distributed control of longitudinal vehicular platoons with non‐uniform communication topology

Cited by 29 publications

References 26 publications

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

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

Stability analysis of connected vehicles with V2V communication and time delays: CTCR method via Bézout’s resultant

Effect of Adaptive Cruise Control on Mixed Traffic Flow: A Comparison of Constant Time Gap Policy with Variable Time Gap Policy

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