Adaptive Centralized/Decentralized Control and Identification of 1-D Heterogeneous Vehicular Platoons Based on Constant Time Headway Policy

This paper deals with the adaptive control and identification of 1-D platoon of non-identical vehicles. Three common different topologies, such as predecessor following, bi-directional leader following, and two predecessors following are considered as the communication structures of platoon. For each topology, a new neighbor-based adaptive control law is introduced to estimate the parameter uncertainties, such as rolling resistance and air drag force coefficients. By presenting a new theorem, we prove that the estimates of unknown parameters converge to the actual values. Constant time headway policy is used to adjust the inter-vehicle spacing. For each topology, it is shown that the closed-loop dynamics of platoon is asymptotically stable. Afterward, the necessary conditions on control parameters assuring the string stability for each topology are derived by presenting further theorems. Moreover, the proposed methods are generalized for the heterogeneous platoons with time-varying network topology. Simulation results with different scenarios are provided to show the effectiveness of the presented approaches.

[1]  Nathan van de Wouw,et al.  Lp String Stability of Cascaded Systems: Application to Vehicle Platooning , 2014, IEEE Transactions on Control Systems Technology.

[2]  Zhenhong Lin,et al.  Battery capacity and recharging needs for electric buses in city transit service , 2017 .

[3]  Jianqiang Wang,et al.  Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies , 2016, IEEE Transactions on Intelligent Transportation Systems.

[4]  L. Peppard,et al.  String stability of relative-motion PID vehicle control systems , 1974 .

[5]  Jonas Fredriksson,et al.  A control matching model predictive control approach to string stable vehicle platooning , 2015 .

[6]  Dong Ngoduy,et al.  Platoon based cooperative driving model with consideration of realistic inter-vehicle communication , 2016 .

[7]  Hossein Chehardoli,et al.  Adaptive Robust Output Tracking Control of Uncertain Nonlinear Cascade Systems with Disturbance and Multiple Unknown Time‐Varying Delays , 2017 .

[8]  Richard H. Middleton,et al.  String Instability in Classes of Linear Time Invariant Formation Control With Limited Communication Range , 2010, IEEE Transactions on Automatic Control.

[9]  Maarten Steinbuch,et al.  String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach , 2010, IEEE Transactions on Vehicular Technology.

[10]  David E. Smith,et al.  The Evaluation of Developing Vehicle Technologies on the Fuel Economy of Long-Haul Trucks , 2015 .

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

[12]  Jeongran Yun,et al.  Development of a Short-Duration Drive Cycle to Represent Long-Term Measured Drive Cycle Data , 2014 .

[13]  Cong Wang,et al.  String Stable Heterogeneous Vehicle Platoon Using Cooperative Adaptive Cruise Control , 2015, 2015 IEEE 18th International Conference on Intelligent Transportation Systems.

[14]  Fang Liao,et al.  Distributed adaptive control for vehicular platoon with unknown dead‐zone inputs and velocity/acceleration disturbances , 2017 .

[15]  Hossein Chehardoli,et al.  Stable control of a heterogeneous platoon of vehicles with switched interaction topology, time-varying communication delay and lag of actuator , 2017 .

[16]  Hossein Chehardoli,et al.  Robust adaptive control of switched non-linear systems in strict feedback form with unknown time delay , 2015, IMA J. Math. Control. Inf..

[17]  Diana Yanakiev,et al.  A SIMPLIFIED FRAMEWORK FOR STRING STABILITY ANALYSIS IN AHS , 1996 .

[18]  Peter Seiler,et al.  Disturbance propagation in vehicle strings , 2004, IEEE Transactions on Automatic Control.

[19]  Shahram Azadi,et al.  Stability analysis of bidirectional adaptive cruise control with asymmetric information flow , 2015 .

[20]  Rajesh Rajamani,et al.  On spacing policies for highway vehicle automation , 2003, IEEE Trans. Intell. Transp. Syst..

[21]  Richard H. Middleton,et al.  Leader tracking in homogeneous vehicle platoons with broadcast delays , 2014, Autom..

[22]  Antonio Saverio Valente,et al.  Third-order consensus in vehicles platoon with heterogeneous time-varying delays , 2015 .

[23]  Hongxia Ge,et al.  The theoretical analysis of the lattice hydrodynamic models for traffic flow theory , 2010 .

[24]  Min Zhang,et al.  Modeling and simulation for microscopic traffic flow based on multiple headway, velocity and acceleration difference , 2011 .

[25]  Fei-Yue Wang,et al.  Data-Driven Intelligent Transportation Systems: A Survey , 2011, IEEE Transactions on Intelligent Transportation Systems.

[26]  Gábor Orosz,et al.  Motif-Based Design for Connected Vehicle Systems in Presence of Heterogeneous Connectivity Structures and Time Delays , 2016, IEEE Transactions on Intelligent Transportation Systems.

[27]  Rudy Cepeda-Gomez.  Exact and Exhaustive Stability Analysis of Linear Consensus Protocols with Time-Delay , 2012 .

[28]  P. A. Cook,et al.  Conditions for string stability , 2005, Syst. Control. Lett..

[29]  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).

[30]  S. Melzer,et al.  A closed-form solution for the optimal error regulation of a string of moving vehicles , 1971 .

[31]  Shahram Azadi,et al.  Exact stability of a platoon of vehicles by considering time delay and lag , 2015 .

[32]  Shahram Azadi,et al.  Stable Decentralized Control of a Platoon of Vehicles With Heterogeneous Information Feedback , 2013, IEEE Transactions on Vehicular Technology.

[33]  Jianliang Wang,et al.  Distributed Adaptive Integrated-Sliding-Mode Controller Synthesis for String Stability of Vehicle Platoons , 2016, IEEE Transactions on Intelligent Transportation Systems.

[34]  Fei-Yue Wang,et al.  Parallel Control and Management for Intelligent Transportation Systems: Concepts, Architectures, and Applications , 2010, IEEE Transactions on Intelligent Transportation Systems.

[35]  Kiyohito Tokuda,et al.  Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications , 2002, IEEE Trans. Intell. Transp. Syst..

[36]  Dongkyoung Chwa,et al.  Adaptive Bidirectional Platoon Control Using a Coupled Sliding Mode Control Method , 2014, IEEE Transactions on Intelligent Transportation Systems.

[37]  Mohammad R. Homaeinezhad,et al.  Third-order safe consensus of heterogeneous vehicular platoons with MPF network topology: Constant time headway strategy , 2018 .

[38]  Mario di Bernardo,et al.  Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays , 2015, IEEE Transactions on Intelligent Transportation Systems.

[39]  J.K. Hedrick,et al.  Direct adaptive longitudinal control of vehicle platoons , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[40]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[41]  Nathan van de Wouw,et al.  Controller Synthesis for String Stability of Vehicle Platoons , 2014, IEEE Transactions on Intelligent Transportation Systems.