Development of an Adaptive Model Predictive Control for Platooning Safety in Battery Electric Vehicles

Abstract

The recent and continuous improvement in the transportation field provides several different opportunities for enhancing safety and comfort in passenger vehicles. In this context, Adaptive Cruise Control (ACC) might provide additional benefits, including smoothness of the traffic flow and collision avoidance. In addition, Vehicle-to-Vehicle (V2V) communication may be exploited in the car-following model to obtain further improvements in safety and comfort by guaranteeing fast response to critical events. In this paper, firstly an Adaptive Model Predictive Control was developed for managing the Cooperative ACC scenario of two vehicles; as a second step, the safety analysis during a cut-in maneuver was performed, extending the platooning vehicles’ number to four. The effectiveness of the proposed methodology was assessed for in different driving scenarios such as diverse cruising speeds, steep accelerations, and aggressive decelerations. Moreover, the controller was validated by considering various speed profiles of the leader vehicle, including a real drive cycle obtained using a random drive cycle generator software. Results demonstrated that the proposed control strategy was capable of ensuring safety in virtually all test cases and quickly responding to unexpected cut-in maneuvers. Indeed, different scenarios have been tested, including acceleration and deceleration phases at high speeds where the control strategy successfully avoided any collision and stabilized the vehicle platoon approximately 20–30 s after the sudden cut-in. Concerning the comfort, it was demonstrated that improvements were possible in the aggressive drive cycle whereas different scenarios were found in the random cycle, depending on where the cut-in maneuver occurred.

Approaches to Sustainable Energy Management in Ensuring Safety of Power Equipment Operation

“…LTO refers to the extension of the operational lifetime of a nuclear power plant beyond its original design life, while ensuring safety and reliability. The LTO process involves conducting comprehensive evaluations, technical diagnostics, and safety assessments to determine whether the plant s components, including the pipelines, can continue to operate safely and meet the required performance standards [44][45][46][47].…”

Cooperative Adaptive Cruise Control Based on Reinforcement Learning for Heavy-Duty BEVs

“…Although electrification may contribute to mitigate the GHG intensity of freight transport, this sector will remain in the near future very challenging to electrify and there is a growing need to explore alternative solutions that can reduce unnecessary energy consumption. To this end, one promising solution is platooning [27]- [29], a technique that allows to reduce energy consumption by exploiting the reduction in aerodynamic drag resulting from cruising at a reduced intervehicular distance. In practice, platooning can be achieved using ACC or CACC systems and leads to improved fuel economy.…”

A Review of Model Predictive Controls Applied to Advanced Driver-Assistance Systems

“…The objective of CACC is similar to the ACC aim, i.e., minimizing the tracking error on a predefined distance, maintaining the relative speed as close to zero as possible while reducing the acceleration rate (jerk). The preceding acceleration enters the formulation often as a disturbance of the system and can be handled by switching to the robust type of MPC [44,50,[108][109][110][111][112][113][114][115][116][117][118][119][120][121][122][123]. CACC could also consider the lateral dynamics and therefore lane keeping is performed, thus adding to the state variables the lateral position and velocity errors which are then minimized [114].…”