Ecological Cooperative Adaptive Cruise Control for Heterogenous Vehicle Platoons Subject to Time Delays and Input Saturations

Zhai, Chunjie; Chen, Chuqiao; Zheng, Xinlei; Han, Zhimin; Gao, Yuhan; Yan, Chenggang; Luo, Fei; Xu, Jianmin

doi:10.1109/tits.2022.3222324

Cited by 22 publications

(5 citation statements)

References 36 publications

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“…The vehicle can essentially maintain −2-2 m/s 3 under other working conditions, except for the ephemeral discomfort during acceleration and emergency braking (see Figure 21). Compared to a single ACC longitudinal control strategy [11][12][13][14][15][16], the designed control strategy can avoid collisions in both vertical and horizontal directions, greatly improving the vehicle's ability to avoid danger.…”

Section: Resultsmentioning

confidence: 99%

“…The inverse model has long been mainly utilized to track and control the outputs of upper-level controllers [5,6], and the relative velocity and distance between two vehicles have been adopted to partition the switching strategy in the lower-level controller [7,8]. Amid the above control algorithms, PID [9][10][11], LQR [12][13][14], and MPC [15][16][17] have been comprehensively researched and applied in ACC systems.…”

Section: Introductionmentioning

confidence: 99%

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Research on a Multimode Adaptive Cruise Control Strategy with Emergency Lane-Changing Function

Dong

Yang

et al. 2023

WEVJ

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In emergency situations, it is difficult to meet the requirements of safe driving only by relying on the braking system, and the probability of accidents can be reduced by employing an emergency lane-changing mode. To improve the adaptability of the distributed electric vehicle adaptive cruise control (ACC) strategy to complicated and volatile conditions, a multimode ACC strategy with emergency lane-changing function is proposed. Firstly, the ACC is divided into four modes aimed at the problem of complex conditions, and a switching strategy is designed to control the switching of them. Simultaneously, the car-following mode is divided in greater detail based on time to collision (TTC), and the acceleration weighted average algorithm is adopted for accuracy and output continuity during switching. Then, the ACC is established with a hierarchical control framework, in which a PID-based cruise mode and a multi-objective optimized car-following mode based on model predictive control (MPC) are devised. The target brake wheel cylinder pressure is selected as the emergency brake pressure in takeover mode. In addition to the MPC-based system, the emergency lane-changing mode incorporates a yaw moment controller in the upper-level controller to improve body stability during emergency lane changing in the upper-level controller. In the lower-level controller, the upper-level output is converted into driving torque, wheel cylinder pressure, and front wheel angle to control vehicle travel and generate additional yaw moment. Finally, the results indicate that the presented multimode switching strategy can adapt to complex and instable transportation environments. In the cruise control scenario, the host vehicle can rapidly reach cruising speed within 5 s. In the car-following scenario, the host vehicle can stably follow the preceding vehicle with an acceleration of −5–3.5 m/s2 and a jerk of −2–2 m/s3 throughout the entire process, maintaining a safe distance from the preceding vehicle. In emergency lane-changing scenarios, vehicles with body stability control can better follow the lane-changing trajectory, and tracking accuracy is improved by 65%. Simultaneously, parameters such as front wheel angle, yaw rate, sideslip rate, and lateral acceleration remain within the normal range. In mixed switching scenarios, each mode can be correctly switched according to diverse operating conditions, and obstacle avoidance can be accomplished through horizontal and vertical strategies, which also verify the effectiveness and rationality of the control strategy proposed.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on a Multimode Adaptive Cruise Control Strategy with Emergency Lane-Changing Function

Dong

Yang

et al. 2023

WEVJ

View full text Add to dashboard Cite

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“…Error Model. Te spacing in a platoon is generally divided into two strategies: constant spacing (CS) strategy and constant time heading (CTH) strategy [21]. In this paper, the CS strategy is employed.…”

Section: Platoon Control Modelmentioning

confidence: 99%

“…A real-time CACC optimization method considering input delay is proposed based on model predictive control (MPC) using energy consumption and band-stop function as the cost functions [20]. Meanwhile, the actuator delays are considered further in subsequent work [21]. In the literature [22], a real-time data-driven CACC optimization method based on DP for unknown dynamic heterogeneous vehicle platoons is proposed.…”

Section: Introductionmentioning

confidence: 99%

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

Kuang,

Tan,

Guo

et al. 2024

Journal of Advanced Transportation

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Connected and automated vehicle platoons (CAVPs) are considered an effective way to alleviate traffic congestion, reduce the incidence of traffic accidents, and improve vehicle economy in the intelligent transportation system (ITS). Vehicles in the CAVPs can communicate with each other through V2X technology, which could optimize the economy of the platoon. Cooperative adaptive cruise control (CACC) can make effective use of the characteristics of CAVPs and contribute to resource conservation, ecological driving, and traffic system development. In this paper, a two-stage CACC method is proposed for CAVPs to reduce fuel consumption in the multislope road section. In the first stage, the optimal velocity profiles for the leader based on dynamic programming (DP) are planned according to the road information and the fuel consumption model. In the second stage, a vehicle longitudinal third-order differential dynamics model is utilized to build the platoon time-delay system considering communication delay and actuator delay. A feedback controller is developed for each vehicle considering the internal stability and the string stability of the CAVPs. Results show that the proposed method can save 5.33% of fuel consumption compared to the constant speed cooperative adaptive cruise control (CS-CACC) method and has a better tracking performance compared to the model predictive control (MPC) method. The CACC method proposed in this paper can provide a theoretical basis and data support for building an ecological CACC strategy for CAVPs.

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“…Among them, research on Eco-CACC strategy at a signalized intersection has been a hot research topic. Most research pays attention to the signalized intersection [1,2,[5][6][7][8], attempting to improve the efficiency [9][10][11][12][13][14][15], string stability [7,10,11] and energy economy [1,2,[5][6][7][8][9][11][12][13][14][15] of vehicle platoons. Ma et al [5] proposed the use of Eco-CACC for both a single vehicle and a platoon of vehicles, then developed the system for signalized intersections, achieving energy-oriented adaptive velocity planning under varying traffic flow velocity and realized optimal velocity trajectory of a connected and automated vehicle (CAV) platoon at successive signalized intersections with a pass at green (PaG) algorithm property.…”

Section: Introductionmentioning

confidence: 99%

Ecological Cooperative Adaptive Control of Connected Automate Vehicles in Mixed and Power-Heterogeneous Traffic Flow

Song

Sun

et al. 2023

Electronics

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The development of vehicle electrification and intelligent network technologies has led to a new type of mixed and power-heterogeneous traffic flow, comprised of regular vehicles (RVs) and connected and automated vehicles (CAVs), fuel vehicles (FVs) and electric vehicles (EVs). To reduce the energy consumption of mixed and power-heterogeneous traffic flow operating at a signalized intersection, the Ecological Control Unit–Cooperative Adaptive Control (ECU-CACC) is proposed in this paper. The vehicle platoon is divided into units which are named minimum ecological control units (min-ECUs). A bi-level control framework is designed to improve traffic efficiency and reduce energy consumption. The lower-level aims to plan the best ecological trajectory for every min-ECU, and the upper-level optimizes the passing strategies for efficiency through speed coordination. Scenario numerical experiments are performed to verify the effectiveness of the bi-level optimal control model and analyze the energy-saving effect of ECU-CACC under different vehicle mixing situations. The results from the experiment prove the excellent energy-saving potential of the proposed ECU-CACC, which helps the min-ECUs save about 10–20% energy consumption compared with a regular pattern.

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Ecological Cooperative Adaptive Cruise Control for Heterogenous Vehicle Platoons Subject to Time Delays and Input Saturations

Cited by 22 publications

References 36 publications

Research on a Multimode Adaptive Cruise Control Strategy with Emergency Lane-Changing Function

Research on a Multimode Adaptive Cruise Control Strategy with Emergency Lane-Changing Function

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

Ecological Cooperative Adaptive Control of Connected Automate Vehicles in Mixed and Power-Heterogeneous Traffic Flow

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