Safe and robust data‐driven cooperative control policy for mixed vehicle platoons

Abstract

This article considers mixed platoons consisting of both human-driven vehicles (HVs) and automated vehicles (AVs). The uncertainties and randomness in human driving behaviors highly affect the platoon safety and stability. However, most existing control strategies are either for platoons of pure AVs, or for special formations of mixed platoons with known HV models. This article addresses the control of mixed platoons with more general formations and unknown HV models. An innovative data-driven policy learning strategy is proposed to design the controllers for AVs based on vehicle-to-vehicle (V2V) communications. The policy learning strategy is embedded with the constraints of control input, inter-vehicular distance error and V2V communication topology. The strategy establishes a safe and robustly stable mixed platoon using prescribed communication topologies. The design efficacy is verified through simulations of a mixed platoon with different communication topologies and leader velocity profiles.

Exponential mean‐square string stability of vehicular platoon with stochastic disturbance and time delay

“…Note that while this article considers communication with constant time delays, various time delay and communication interruption 41 may happen in practice, and uncertainties of parameters have not been considered, which could be further studied. Additionally, mixed platoons 42 consisting of both human‐driven vehicles and automated vehicles with stochastic disturbances can also be discussed in future research. In terms of methodology, it is worth considering the integration of recent work on sliding mode control for IT2 fuzzy systems dealing with faults and disturbances in semi‐Markov systems 43 …”

Eco-Driving of General Mixed Platoons With CAVs and HDVs

“…Since the HDV sub-platoons within mixed platoons cannot be controlled directly, it is not easy to prove the absolute stability of the entire platoon. Hence, it is more realistic to consider the headto-tail string stability of a mixed platoon [31]. The head-to-tail string stable indicates that the amplitude of oscillation at the first vehicle is not amplified on the last vehicle, regardless the behaviour of HDVs within the platoon.…”

“…The entire mixed platoon satisfies the head-to-tail string stability [29] and min-max MPC control for each CAV considers the ℓ 2 string stability [30]. A detailed string stability analysis is referred to our previous works [10], [30], [31]. The contributions of this work are summarised as follows:…”