Robust Control and Optimization for Autonomous and Connected Vehicle Platoons with Vehicle-to-Vehicle Communication Delay
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 147, Issue 8
Abstract
Recent advances in vehicle-to-vehicle (V2V) communication technologies enable autonomous vehicle platoons to better utilize the information of other members in the platoon to achieve the desired longitudinal intervehicular spacing specifications. However, most existing studies adopt a fixed time headway , and do not take into account the effects of V2V communication delay on the desired design specifications for the platoons. Moreover, for stability analysis, the commonly adopted Routh-Hurwitz approach usually needs a lot of computation time, which will significantly reduce the efficiency and flexibility of the platoons in real-time applications. In order to overcome the aforementioned issues with the existing results on autonomous vehicle platoons, this paper investigates the robust control and optimization problem for a platoon of autonomous and connected vehicles subject to V2V communication delay and uncertain parasitic actuation lag under a constant time headway policy (CTHP). First, by employing the Padé approximation approach, the spacing error propagation transfer function, from the preceding vehicle to the following vehicle, under immediate predecessor’s acceleration, velocity, and position feedback control mechanism is derived. In addition, in order to improve the computation efficiency, a signature method is utilized for the Hurwitz stability analysis. Then the string stability analysis for attenuating the spacing propagation error along the platoon is performed. Both lower and upper bounds for the time headway as well as the admissible sets for controller gains are achieved for Hurwitz stability and string stability. Comparative simulation results are finally provided to demonstrate the effectiveness of the proposed design scheme.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
References
Bhattacharyya, S. P., A. Datta, and L. H. Keel. 2018. Linear control theory: Structure, robustness, and optimization. London: CRC Press.
Darbha, S., S. Konduri, and P. Pagilla. 2017. “Effects of V2V communication on time headway for autonomous vehicles.” In Proc., American Control Conf. (ACC), 2017, 2002–2007. New York: IEEE.
Darbha, S., S. Konduri, and P. R. Pagilla. 2018. “Benefits of V2V communication for autonomous and connected vehicles.” IEEE Trans. Intell. Transp. Syst. 20 (5): 1954–1963. https://doi.org/10.1109/TITS.2018.2859765.
De Silva, V., J. Roche, and A. Kondoz. 2017. “Robust fusion of LiDAR and wide-angle camera data for autonomous mobile robots.” Accessed October 17, 2017. http://arxiv.org/abs/1710.06230.
Di Cairano, S., D. Bernardini, A. Bemporad, and I. V. Kolmanovsky. 2014. “Stochastic MPC with learning for driver-predictive vehicle control and its application to HEV energy management.” IEEE Trans. Control Syst. Technol. 22 (3): 1018–1031. https://doi.org/10.1109/TCST.2013.2272179.
Dolk, V. S., J. Ploeg, and W. P. M. H. Heemels. 2017. “Event-triggered control for string-stable vehicle platooning.” IEEE Trans. Intell. Transp. Syst. 18 (12): 3486–3500. https://doi.org/10.1109/TITS.2017.2738446.
Du, L., and H. Dao. 2015. “Information dissemination delay in vehicle-to-vehicle communication networks in a traffic stream.” IEEE Trans. Intell. Transp. Syst. 16 (1): 66–80. https://doi.org/10.1109/TITS.2014.2326331.
Guo, G., and W. Yue. 2012. “Autonomous platoon control allowing range-limited sensors.” IEEE Trans. Veh. Technol. 61 (7): 2901–2912. https://doi.org/10.1109/TVT.2012.2203362.
Ho, M.-T., A. Datta, and S. Bhattacharyya. 1999. “Generalizations of the Hermite–Biehler theorem.” Linear Algebra Appl. 302–203 (Dec): 135–153. https://doi.org/10.1016/S0024-3795(99)00069-5.
Kamal, M. A. S., J.-I. Imura, T. Hayakawa, A. Ohata, and K. Aihara. 2014. “Smart driving of a vehicle using model predictive control for improving traffic flow.” IEEE Trans. Intell. Transp. Syst. 15 (2): 878–888. https://doi.org/10.1109/TITS.2013.2292500.
Kohlhaas, R., T. Schamm, D. Lenk, and J. M. Zöllner. 2013. “Towards driving autonomously: Autonomous cruise control in urban environments.” In Proc., Intelligent Vehicles Symp. (IV), 2013 IEEE, 116–121. New York: IEEE.
Konduri, S. 2017. “Robust string stability of vehicle platoons with communication.” Ph.D. thesis, Dept. of Mechanical Engineering, Texas A&M Univ.
Konduri, S., P. Pagilla, and S. Darbha. 2017. “Vehicle platooning with multiple vehicle look-ahead information.” IFAC-PapersOnLine 50 (1): 5768–5773. https://doi.org/10.1016/j.ifacol.2017.08.415.
Levinson, J., and S. Thrun. 2010. “Robust vehicle localization in urban environments using probabilistic maps.” In Proc., IEEE Int. Conf. on Robotics and Automation, 2010, 4372–4378. New York: IEEE.
Liu, Y., C. Pan, H. Gao, and G. Guo. 2017. “Cooperative spacing control for interconnected vehicle systems with input delays.” IEEE Trans. Veh. Technol. 66 (12): 10692–10704. https://doi.org/10.1109/TVT.2017.2712146.
Menhour, L., B. D’Andréa-Novel, M. Fliess, and H. Mounier. 2014. “Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques.” Control Eng. Pract. 22 (Jan): 135–146. https://doi.org/10.1016/j.conengprac.2013.09.013.
Peters, A. A., and R. H. Middleton. 2011. “Leader velocity tracking and string stability in homogeneous vehicle formations with a constant spacing policy.” In Proc., 2011 9th IEEE Int. Conf. on Control and Automation (ICCA), 42–46. New York: IEEE.
Ploeg, J., D. P. Shukla, N. van de Wouw, and H. Nijmeijer. 2014. “Controller synthesis for string stability of vehicle platoons.” IEEE Trans. Intell. Transp. Syst. 15 (2): 854–865. https://doi.org/10.1109/TITS.2013.2291493.
Rödönyi, G. 2019. “Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems.” Automatica 103 (May): 354–362. https://doi.org/10.1016/j.automatica.2019.02.015.
Schweikert, A., P. Chinowsky, K. Kwiatkowski, and X. Espinet. 2014. “The infrastructure planning support system: Analyzing the impact of climate change on road infrastructure and development.” Transp. Policy 35 (Sep): 146–153. https://doi.org/10.1016/j.tranpol.2014.05.019.
Swaroop, D., and K. Rajagopal. 2001. “A review of constant time headway policy for automatic vehicle following.” In Proc., IEEE: Intelligent Transportation Systems, 2001, 65–69. New York: IEEE.
Swaroop, D. V. 1994. “String stability of interconnected systems: An application to platooning in automated highway systems.” Ph.D. thesis, Dept. of Mechanical Engineering, Univ. of California, Berkeley.
Tóth, J., and G. Rödönyi. 2017. “String stability preserving adaptive spacing policy for handling saturation in heterogeneous vehicle platoons.” IFAC-PapersOnLine 50 (1): 8525–8530. https://doi.org/10.1016/j.ifacol.2017.08.1405.
Vinel, A., L. Lan, and N. Lyamin. 2015. “Vehicle-to-vehicle communication in C-ACC/platooning scenarios.” IEEE Commun. Mag. 53 (8): 192–197. https://doi.org/10.1109/MCOM.2015.7180527.
Wu, Y., S. E. Li, J. Cortés, and K. Poolla. 2019. “Distributed sliding mode control for nonlinear heterogeneous platoon systems with positive definite topologies.” IEEE Trans. Control Syst. Technol. 28 (4): 1272–1283. https://doi.org/10.1109/TCST.2019.2908146.
Xing, H., J. Ploeg, and H. Nijmeijer. 2018. “Smith predictor compensating for vehicle actuator delays in cooperative ACC systems.” IEEE Trans. Veh. Technol. 68 (2): 1106–1115. https://doi.org/10.1109/TVT.2018.2886467.
Zhang, L., J. Sun, and G. Orosz. 2017. “Hierarchical design of connected cruise control in the presence of information delays and uncertain vehicle dynamics.” IEEE Trans. Control Syst. Technol. 26 (1): 139–150. https://doi.org/10.1109/TCST.2017.2664721.
Information & Authors
Information
Published In
Journal of Transportation Engineering, Part A: Systems
Volume 147 • Issue 8 • August 2021
Copyright
© 2021 American Society of Civil Engineers.
History
Received: Jul 24, 2020
Accepted: Feb 19, 2021
Published online: Jun 9, 2021
Published in print: Aug 1, 2021
Discussion open until: Nov 9, 2021
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.