Switching Multi-Objective Receding Horizon Control for CACC of Mixed Vehicle Strings

Song, Xiulan; Wang, Ke; He, Defeng

doi:10.1109/access.2020.2990426

Cited by 6 publications

(4 citation statements)

References 47 publications

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“…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].…”

Section: Cost Function In Mpc Problemsmentioning

confidence: 99%

“…In these scenarios, inter-vehicular distance IVD is often bounded to be lower than a certain value (i.e., considering road occupancy for minimizing the impact on the traffic) and higher than a safety distance. Along with the distance, operational ranges are also provided to velocity, acceleration and acceleration rate to ensure passenger comfort [29,44,50,[90][91][92][93][94][95][96][97][98][99][100][101][102][103][104][108][109][110][111][112][113][114][115][116][117][118][119][120][121][122].…”

Section: Constraints In Mpc Problemsmentioning

confidence: 99%

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

et al. 2021

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Advanced Driver-Assistance Systems (ADASs) are currently gaining particular attention in the automotive field, as enablers for vehicle energy consumption, safety, and comfort enhancement. Compelling evidence is in fact provided by the variety of related studies that are to be found in the literature. Moreover, considering the actual technology readiness, larger opportunities might stem from the combination of ADASs and vehicle connectivity. Nevertheless, the definition of a suitable control system is not often trivial, especially when dealing with multiple-objective problems and dynamics complexity. In this scenario, even though diverse strategies are possible (e.g., Equivalent Consumption Minimization Strategy, Rule-based strategy, etc.), the Model Predictive Control (MPC) turned out to be among the most effective ones in fulfilling the aforementioned tasks. Hence, the proposed study is meant to produce a comprehensive review of MPCs applied to scenarios where ADASs are exploited and aims at providing the guidelines to select the appropriate strategy. More precisely, particular attention is paid to the prediction phase, the objective function formulation and the constraints. Subsequently, the interest is shifted to the combination of ADASs and vehicle connectivity to assess for how such information is handled by the MPC. The main results from the literature are presented and discussed, along with the integration of MPC in the optimal management of higher level connection and automation. Current gaps and challenges are addressed to, so as to possibly provide hints on future developments.

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Section: Cost Function In Mpc Problemsmentioning

confidence: 99%

Section: Constraints In Mpc Problemsmentioning

confidence: 99%

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

et al. 2021

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“…From a viewpoint of control systems, the goal of CACC is to form a platoon of CAVs and maintain an optimal spacing policy (e.g., in terms of the relative distance and velocity between vehicles). Many CACC strategies have been proposed to achieve the goal, and some well overview of CACC has been presented in, for example, previous studies [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Bidirectional asymmetric delay feedback for cooperative adaptive cruise control of vehicle platoons with unreliable communication

Song

Wei

Chen

et al. 2021

Asian Journal of Control

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This paper considers the cooperative adaptive cruise control (CACC) problem of vehicle platoons under unreliable vehicle-to-everything (V2X) communication network. A bidirectional asymmetric delay feedback CACC method is presented to cope with the time delay and packet dropout induced by the unreliable network. The concept of equivalent delays is used to compensate the packet dropout of the network with the bidirectional communication topology. Using the asymmetric PD structure and the longitudinal models with varying time delay, the CACC controller of the platoon in a centralized mode is computed by solving linear matrix inequalities. To guarantee string stability of the platoon with the controller under the unreliable network, some sufficient conditions on the parameters of the controller and the time delay and packet dropout are derived. Furthermore, the upper bound of the time delay is estimated to satisfy string stability of the platoon. Finally, the presented method is verified by some comparative experiments of a sevencar platoon with representative traffic scenarios and communication topologies.

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“…The proposed VDC, called a receding horizon vehicle dynamic control (RHVDC), is based on a receding horizon control (RHC) law. Receding horizon approaches have been widely recognized as practical schemes that have several advantages such as the closed-loop structure, the I/O constraint handling, the good tracking performance, and the guaranteed stability [29][30][31][32][33]. Using the RHVDC, the two control inputs are obtained by minimizing a quadratic cost function over the finite future time horizon.…”

Section: Introductionmentioning

confidence: 99%

A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire

2021

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This paper proposes a stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire. First, we propose the receding horizon vehicle dynamic control (RHVDC) to track the desired slip angle and yaw rate of a dynamic vehicle. The RHVDC computes and updates control inputs at each sampling time to minimize a quadratic cost function over the finite future time horizon, allowing it to address the time-varying property of dynamic vehicles. Its stability is shown to be guaranteed with appropriate parameters. Second, unlike the conventional steering systems fixed with the driver's steering wheels, the SBW system improves the controllability of vehicle dynamics and enables better tracking performance. Third, combining a stereo vision system with existing sensors allows state estimation of dynamic vehicles to be more accurate in noisy environments. The three strategies mentioned above ultimately maximize the tracking performance of dynamic vehicles through improvement in terms of theory, facilities, and recognition. Through the software-in-the-loop simulation (SILS) with CarSim, the proposed RHVDC system has the better tracking performance for controlling both the slip angle and the yaw rate compared with the existing ones. It is also observed that the performance enhancement of the proposed RHVDC system is more outstanding on slippery or more severe roads. INDEX TERMSReceding horizon control, vehicle dynamic control (VDC), Steer-by-Wire (SBW), Stereo vision, Yaw moment control (YMC).

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Switching Multi-Objective Receding Horizon Control for CACC of Mixed Vehicle Strings

Cited by 6 publications

References 47 publications

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

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

Bidirectional asymmetric delay feedback for cooperative adaptive cruise control of vehicle platoons with unreliable communication

A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire

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