Centralized Model Predictive Control With Human-Driver Interaction for Platooning

Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is required to ensure that the vehicle platoon is stable and meets desired safety requirements. In this paper, we propose a centralized model predictive controller for a heterogeneous platoon of vehicles to reach a desired platoon velocity and individual inter-vehicle distances with driver-selected headway time. As a novel concept, we allow for interruption from a human driver in the platoon that temporarily takes control of their vehicle with the assumption that the driver will, at minimum, obey legal velocity limits and the physical performance constraints of their vehicle. The finite horizon cost function of our proposed platoon controller is inspired from the infinite horizon design. To the best of our knowledge, this is the first platoon controller that integrates human-driven vehicles. We illustrate the performance of our proposed design with a numerical study, demonstrating that the safety distance, velocity, and actuation constraints are obeyed. Additionally, in simulation we illustrate a key property of string stability where the impact of a disturbance is reduced through the platoon.

[1]  F. Dressler,et al.  Multi-Technology Cooperative Driving: An Analysis Based on PLEXE , 2023, IEEE Transactions on Mobile Computing.

[2]  Roberto Lot,et al.  Incorporating Driver Preferences Into Eco-Driving Assistance Systems Using Optimal Control , 2021, IEEE Transactions on Intelligent Transportation Systems.

[3]  Falko Dressler,et al.  mmWave on the Road: Investigating the Weather Impact on 60 GHz V2X Communication Channels , 2021, 2021 16th Annual Conference on Wireless On-demand Network Systems and Services Conference (WONS).

[4]  Falko Dressler,et al.  Inband Full-Duplex Relaying for RADCOM-based Cooperative Driving , 2020, 2020 IEEE Vehicular Networking Conference (VNC).

[5]  Yougang Bian,et al.  A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles , 2020, IEEE Intelligent Transportation Systems Magazine.

[6]  Guilherme F. Silva,et al.  String stable integral control design for vehicle platoons with disturbances , 2020, Autom..

[7]  Barry Lennox,et al.  Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach , 2020, IEEE Robotics and Automation Letters.

[8]  Falko Dressler,et al.  Using Full Duplex Relaying to Reduce Physical Layer Latency in Platooning , 2019, 2019 IEEE Vehicular Networking Conference (VNC).

[9]  Franco Blanchini,et al.  The joint network/control design of platooning algorithms can enforce guaranteed safety constraints , 2019, Ad Hoc Networks.

[10]  Soyoung Ahn,et al.  Distributed model predictive control approach for cooperative car-following with guaranteed local and string stability , 2019, Transportation Research Part B: Methodological.

[11]  Hajo Bakker,et al.  Enhanced Resource Scheduling for Platooning in 5G V2X Systems , 2019, 2019 IEEE 2nd 5G World Forum (5GWF).

[12]  Arturo González,et al.  A Feasibility Study of LTE-V2X Semi-Persistent Scheduling for String Stable CACC , 2019, 2019 IEEE Wireless Communications and Networking Conference (WCNC).

[13]  Giovanni Fiengo,et al.  Distributed Robust PID Control For Leader Tracking in Uncertain Connected Ground Vehicles With V2V Communication Delay , 2019, IEEE/ASME Transactions on Mechatronics.

[14]  Nathan van de Wouw,et al.  String Stable Model Predictive Cooperative Adaptive Cruise Control for Heterogeneous Platoons , 2019, IEEE Transactions on Intelligent Vehicles.

[15]  Defeng He,et al.  Fuel efficiency‐oriented platooning control of connected nonlinear vehicles: A distributed economic MPC approach , 2019, Asian Journal of Control.

[16]  Falko Dressler,et al.  Cooperative Driving and the Tactile Internet , 2019, Proceedings of the IEEE.

[17]  Marco Gruteser,et al.  Sub-6GHz Assisted MAC for Millimeter Wave Vehicular Communications , 2018, IEEE Communications Magazine.

[18]  Marcello Farina,et al.  Distributed MPC for Large-Scale Systems , 2018, Handbook of Model Predictive Control.

[19]  Meng Wang,et al.  Infrastructure assisted adaptive driving to stabilise heterogeneous vehicle strings , 2018, Transportation Research Part C: Emerging Technologies.

[20]  Krzysztof Wesolowski,et al.  3GPP C-V2X and IEEE 802.11p for Vehicle-to-Vehicle communications in highway platooning scenarios , 2018, Ad Hoc Networks.

[21]  Falko Dressler,et al.  Cyber Physical Social Systems: Towards Deeply Integrated Hybridized Systems , 2018, 2018 International Conference on Computing, Networking and Communications (ICNC).

[22]  Javier Gozalvez,et al.  LTE-V for Sidelink 5G V2X Vehicular Communications: A New 5G Technology for Short-Range Vehicle-to-Everything Communications , 2017, IEEE Vehicular Technology Magazine.

[23]  Barbara M. Masini,et al.  Performance comparison between IEEE 802.11p and LTE-V2V in-coverage and out-of-coverage for cooperative awareness , 2017, 2017 IEEE Vehicular Networking Conference (VNC).

[24]  Barbara M. Masini,et al.  On the Performance of IEEE 802.11p and LTE-V2V for the Cooperative Awareness of Connected Vehicles , 2017, IEEE Transactions on Vehicular Technology.

[25]  Andrea Zanella,et al.  Millimeter wave communication in vehicular networks: Challenges and opportunities , 2017, 2017 6th International Conference on Modern Circuits and Systems Technologies (MOCAST).

[26]  Falko Dressler,et al.  Let's talk in groups: A distributed bursting scheme for cluster-based vehicular applications , 2017, Veh. Commun..

[27]  Antonio Saverio Valente,et al.  A Consensus-Based Approach for Platooning with Intervehicular Communications and Its Validation in Realistic Scenarios , 2017, IEEE Transactions on Vehicular Technology.

[28]  Antoine O. Berthet,et al.  Better Platooning Control Toward Autonomous Driving : An LTE Device-to-Device Communications Strategy That Meets Ultralow Latency Requirements , 2017, IEEE Vehicular Technology Magazine.

[29]  Nsw Roads and Maritime Services Intelligent Transport Systems (ITS) , 2016 .

[30]  Yang Zheng,et al.  Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay , 2016 .

[31]  Karl Henrik Johansson,et al.  Heavy-Duty Vehicle Platoon Formation for Fuel Efficiency , 2016, IEEE Transactions on Intelligent Transportation Systems.

[32]  Yang Zheng,et al.  Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies , 2016, IEEE Transactions on Control Systems Technology.

[33]  Hwasoo Yeo,et al.  A Study on the Traffic Predictive Cruise Control Strategy With Downstream Traffic Information , 2016, IEEE Transactions on Intelligent Transportation Systems.

[34]  Mashrur Chowdhury,et al.  A Review of Communication, Driver Characteristics, and Controls Aspects of Cooperative Adaptive Cruise Control (CACC) , 2016, IEEE Transactions on Intelligent Transportation Systems.

[35]  Falko Dressler,et al.  Jerk Beaconing: A dynamic approach to platooning , 2015, 2015 IEEE Vehicular Networking Conference (VNC).

[36]  Karl H. Johansson,et al.  Heavy-Duty Vehicle Platooning for Sustainable Freight Transportation: A Cooperative Method to Enhance Safety and Efficiency , 2015, IEEE Control Systems.

[37]  Karl Henrik Johansson,et al.  Cyber–Physical Control of Road Freight Transport , 2015, Proceedings of the IEEE.

[38]  Karl Henrik Johansson,et al.  Cooperative Look-Ahead Control for Fuel-Efficient and Safe Heavy-Duty Vehicle Platooning , 2015, IEEE Transactions on Control Systems Technology.

[39]  Karl Henrik Johansson,et al.  Experimental evaluation of decentralized cooperative cruise control for heavy-duty vehicle platooning , 2015 .

[40]  Antonio Pescapè,et al.  A consensus-based approach for platooning with inter-vehicular communications , 2015, 2015 IEEE Conference on Computer Communications (INFOCOM).

[41]  F. Dressler,et al.  Vehicular Networking , 2014 .

[42]  Richard H. Middleton,et al.  Passivity-based control for multi-vehicle systems subject to string constraints , 2014, Autom..

[43]  Nick Reed,et al.  Driving next to automated vehicle platoons: How do short time headways influence non-platoon drivers’ longitudinal control? , 2014 .

[44]  Karl Henrik Johansson,et al.  Guaranteeing safety for heavy duty vehicle platooning : Safe set computations and experimental evaluations , 2014 .

[45]  Vicente Milanés Montero,et al.  Cooperative Adaptive Cruise Control in Real Traffic Situations , 2014, IEEE Transactions on Intelligent Transportation Systems.

[46]  Ozan K. Tonguz,et al.  How Shadowing Hurts Vehicular Communications and How Dynamic Beaconing Can Help , 2013, IEEE Transactions on Mobile Computing.

[47]  P. Cortes,et al.  Model Predictive Control of an AFE Rectifier With Dynamic References , 2012, IEEE Transactions on Power Electronics.

[48]  Urbano Nunes,et al.  Platooning With IVC-Enabled Autonomous Vehicles: Strategies to Mitigate Communication Delays, Improve Safety and Traffic Flow , 2012, IEEE Transactions on Intelligent Transportation Systems.

[49]  Francois Dion,et al.  Vehicle Platoon Control in High-Latency Wireless Communications Environment , 2012 .

[50]  Matthias Wille,et al.  Interaction of Human, Machine, and Environment in Automated Driving Systems , 2011 .

[51]  Fu Lin,et al.  Optimal Control of Vehicular Formations With Nearest Neighbor Interactions , 2011, IEEE Transactions on Automatic Control.

[52]  Feng Gao,et al.  Practical String Stability of Platoon of Adaptive Cruise Control Vehicles , 2011, IEEE Transactions on Intelligent Transportation Systems.

[53]  David Angeli,et al.  Economic optimization using model predictive control with a terminal cost , 2011, Annu. Rev. Control..

[54]  Nathan van de Wouw,et al.  Design and experimental evaluation of cooperative adaptive cruise control , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[55]  Ozan K. Tonguz,et al.  Traffic information systems: efficient message dissemination via adaptive beaconing , 2011, IEEE Communications Magazine.

[56]  Ruth F. Curtain,et al.  A comparison between LQR control for a long string of SISO systems and LQR control of the infinite spatially invariant version , 2010, Autom..

[57]  Sabina Jeschke,et al.  Organization and Operation of Electronically Coupled Truck Platoons on German Motorways , 2009, ICIRA.

[58]  João Pedro Hespanha,et al.  Mistuning-Based Control Design to Improve Closed-Loop Stability Margin of Vehicular Platoons , 2008, IEEE Transactions on Automatic Control.

[59]  Carlos Canudas-de-Wit,et al.  A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios , 2007, IEEE Transactions on Control Systems Technology.

[60]  Stephen P. Boyd,et al.  Convex Optimization , 2004, IEEE Transactions on Automatic Control.

[61]  S. Joe Qin,et al.  A survey of industrial model predictive control technology , 2003 .

[62]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[63]  Rajesh Rajamani,et al.  Should adaptive cruise-control systems be designed to maintain a constant time gap between vehicles? , 2001, IEEE Transactions on Vehicular Technology.

[64]  Andrea Goldsmith,et al.  Effects of communication delay on string stability in vehicle platoons , 2001, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585).

[65]  Ioannis Kanellakopoulos,et al.  Nonlinear spacing policies for automated heavy-duty vehicles , 1998 .

[66]  James B. Rawlings,et al.  Constrained linear quadratic regulation , 1998, IEEE Trans. Autom. Control..

[67]  M. B. Zarrop,et al.  Book Review: Computer Controlled Systems: theory and design (3rd Ed.) , 1998 .

[68]  Ioannis Kanellakopoulos,et al.  Longitudinal control of heavy-duty vehicles for automated highway systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[69]  J. Hedrick,et al.  String stability of interconnected systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[70]  Petros A. Ioannou,et al.  Autonomous intelligent cruise control , 1993 .

[71]  Petros A. Ioannou,et al.  Automatic Vehicle-Following , 1992, 1992 American Control Conference.

[72]  G. E. Taylor,et al.  Computer Controlled Systems: Theory and Design , 1985 .

[73]  S. Melzer,et al.  Optimal regulation of systems described by a countably infinite number of objects , 1971 .

[74]  M. Athans,et al.  On the optimal error regulation of a string of moving vehicles , 1966 .

[75]  Zhongming Xu,et al.  Spacing Policies for Adaptive Cruise Control: A Survey , 2020, IEEE Access.

[76]  Li Li,et al.  String stability for vehicular platoon control: Definitions and analysis methods , 2019, Annu. Rev. Control..

[77]  M. Gerla,et al.  Towards Communication Strategies for Platooning : Simulative and Experimental Evaluation , 2015 .

[78]  Si-Zhao Joe Qin,et al.  Model-Predictive Control in Practice , 2015, Encyclopedia of Systems and Control.

[79]  Mihailo R. Jovanovic,et al.  On the ill-posedness of certain vehicular platoon control problems , 2005, IEEE Transactions on Automatic Control.

[80]  R. D'Andrea,et al.  On avoiding saturation in the control of vehicular platoons , 2004, Proceedings of the 2004 American Control Conference.

[81]  Petros A. Ioannou,et al.  A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1 , 1994 .

[82]  Gerard Salton,et al.  What Is Computer Science? , 1972, JACM.

[83]  Intelligent Transport Systems (its); Decentralized Congestion Control Mechanisms for Intelligent Transport Systems Operating in the 5 Ghz Range; Access Layer Part , 2022 .