A Switched Control Strategy of Heterogeneous Vehicle Platoon for Multiple Objectives With State Constraints

Vehicle safety, passenger comfort, formation control, and fuel economy are the major objectives in the cooperative adaptive cruise control of intelligent vehicles. However, almost none of the current literature takes all of the above objectives into comprehensive consideration. In this paper, a swit...

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Published in:	IEEE transactions on intelligent transportation systems Vol. 20; no. 5; pp. 1883 - 1896
Main Authors:	Zhai, Chunjie, Liu, Yonggui, Luo, Fei
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.05.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control CACC Computer simulation Controllers Cooperative control Cruise control distributed model predictive control formation control Fuel economy Fuels Integer programming Intelligent vehicles Linear programming Mixed integer Passenger comfort Platooning Predictive control Stability analysis Strategy Switches Topology Vehicle safety
ISSN:	1524-9050, 1558-0016
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Abstract	Vehicle safety, passenger comfort, formation control, and fuel economy are the major objectives in the cooperative adaptive cruise control of intelligent vehicles. However, almost none of the current literature takes all of the above objectives into comprehensive consideration. In this paper, a switched control strategy of heterogeneous vehicle platoon for multiple objectives with state constraints is proposed, in which the above four major objectives are all taken into account. To achieve the four major objectives, the distributed model predictive control with multiple objectives (DMPCMO) is proposed. To solve the problem that the DMPCMO controller cannot be achieved because of the inappropriate initial states of the vehicle platoon or the large perturbations in front of the platoon, the safety controller acting as the emergency brake to guarantee vehicle safety is also designed. The switch between the DMPCMO controller and the safety controller forms the switched control strategy of heterogeneous vehicle platoon for multiple objectives (SCSHPM). Since the DMPCMO controller has to be obtained by solving the nonlinear DMPCMO problem, in order to reduce the computational burden as much as possible, the DMPCMO problem is transformed into non-negative and non-positive 0-1 mixed integer linear programming problems after the fuel consumption table is constructed and calculated off-line. Finally, extensive experiments of heterogeneous platoon under different communication topologies are performed in simulation to demonstrate the effectiveness of the proposed SCSHPM.
AbstractList	Vehicle safety, passenger comfort, formation control, and fuel economy are the major objectives in the cooperative adaptive cruise control of intelligent vehicles. However, almost none of the current literature takes all of the above objectives into comprehensive consideration. In this paper, a switched control strategy of heterogeneous vehicle platoon for multiple objectives with state constraints is proposed, in which the above four major objectives are all taken into account. To achieve the four major objectives, the distributed model predictive control with multiple objectives (DMPCMO) is proposed. To solve the problem that the DMPCMO controller cannot be achieved because of the inappropriate initial states of the vehicle platoon or the large perturbations in front of the platoon, the safety controller acting as the emergency brake to guarantee vehicle safety is also designed. The switch between the DMPCMO controller and the safety controller forms the switched control strategy of heterogeneous vehicle platoon for multiple objectives (SCSHPM). Since the DMPCMO controller has to be obtained by solving the nonlinear DMPCMO problem, in order to reduce the computational burden as much as possible, the DMPCMO problem is transformed into non-negative and non-positive 0-1 mixed integer linear programming problems after the fuel consumption table is constructed and calculated off-line. Finally, extensive experiments of heterogeneous platoon under different communication topologies are performed in simulation to demonstrate the effectiveness of the proposed SCSHPM.
Author	Liu, Yonggui Zhai, Chunjie Luo, Fei
Author_xml	– sequence: 1 givenname: Chunjie orcidid: 0000-0002-8779-1719 surname: Zhai fullname: Zhai, Chunjie email: auchunjiezhai@mail.scut.edu.cn organization: Key Laboratory of Autonomous Systems and Network Control, Ministry of Education, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China – sequence: 2 givenname: Yonggui orcidid: 0000-0001-6560-1593 surname: Liu fullname: Liu, Yonggui email: auygliu@scut.edu.cn organization: Key Laboratory of Autonomous Systems and Network Control, Ministry of Education, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China – sequence: 3 givenname: Fei orcidid: 0000-0001-5517-2721 surname: Luo fullname: Luo, Fei email: aufeiluo@scut.edu.cn organization: School of Automation Science and Engineering, South China University of Technology, Guangzhou, China
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SubjectTerms	Adaptive control CACC Computer simulation Controllers Cooperative control Cruise control distributed model predictive control formation control Fuel economy Fuels Integer programming Intelligent vehicles Linear programming Mixed integer Passenger comfort Platooning Predictive control Stability analysis Strategy Switches Topology Vehicle safety
Title	A Switched Control Strategy of Heterogeneous Vehicle Platoon for Multiple Objectives With State Constraints
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