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Constrained optimization and distributed computation based car following control of a connected and autonomous vehicle platoon

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  • Gong, Siyuan
  • Shen, Jinglai
  • Du, Lili

Abstract

Motivated by the advancement in connected and autonomous vehicle technologies, this paper develops a novel car-following control scheme for a platoon of connected and autonomous vehicles on a straight highway. The platoon is modeled as an interconnected multi-agent dynamical system subject to physical and safety constraints, and it uses the global information structure such that each vehicle shares information with all the other vehicles. A constrained optimization based control scheme is proposed to ensure an entire platoon’s transient traffic smoothness and asymptotic dynamic performance. By exploiting the solution properties of the underlying optimization problem and using primal-dual formulation, this paper develops dual based distributed algorithms to compute optimal solutions with proven convergence. Furthermore, the asymptotic stability of the unconstrained linear closed-loop system is established. These stability analysis results provide a principle to select penalty weights in the underlying optimization problem to achieve the desired closed-loop performance for both the transient and the asymptotic dynamics. Extensive numerical simulations are conducted to validate the efficiency of the proposed algorithms.

Suggested Citation

  • Gong, Siyuan & Shen, Jinglai & Du, Lili, 2016. "Constrained optimization and distributed computation based car following control of a connected and autonomous vehicle platoon," Transportation Research Part B: Methodological, Elsevier, vol. 94(C), pages 314-334.
    • Handle: RePEc:eee:transb:v:94:y:2016:i:c:p:314-334
    DOI: 10.1016/j.trb.2016.09.016
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    References listed on IDEAS

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    1. Swaroop, D.v.a.h.g, 1997. "String Stability Of Interconnected Systems: An Application To Platooning In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt86z6h1b1, Institute of Transportation Studies, UC Berkeley.
    2. Shladover, Steven & VanderWerf, Joel & Miller, Mark A. & Kourjanskaia, Natalia & Krishnan, Hariharan, 2001. "Development and Performance Evaluation of AVCSS Deployment Sequences to Advance from Today's Driving Environment to Full Automation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt33w2d55j, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Zhang, Hanyu & Du, Lili & Shen, Jinglai, 2022. "Hybrid MPC System for Platoon based Cooperative Lane change Control Using Machine Learning Aided Distributed Optimization," Transportation Research Part B: Methodological, Elsevier, vol. 159(C), pages 104-142.
    2. Gu, Yewen & Goez, Julio C. & Mario, Guajardo & Wallace, Stein W., 2019. "Autonomous vessels: State of the art and potential opportunities in logistics," Discussion Papers 2019/6, Norwegian School of Economics, Department of Business and Management Science.
    3. Qiu, Jiahua & Du, Lili, 2023. "Cooperative trajectory control for synchronizing the movement of two connected and autonomous vehicles separated in a mixed traffic flow," Transportation Research Part B: Methodological, Elsevier, vol. 174(C).
    4. Yu Lin & Hongfei Jia & Bo Zou & Hongzhi Miao & Ruiyi Wu & Jingjing Tian & Guanfeng Wang, 2021. "Multiobjective Environmentally Sustainable Optimal Design of Dedicated Connected Autonomous Vehicle Lanes," Sustainability, MDPI, vol. 13(6), pages 1-21, March.
    5. Lu, Gongyuan & Nie, Yu(Marco) & Liu, Xiaobo & Li, Denghui, 2019. "Trajectory-based traffic management inside an autonomous vehicle zone," Transportation Research Part B: Methodological, Elsevier, vol. 120(C), pages 76-98.
    6. Zhao, Shuaidong & Zhang, Kuilin, 2020. "A distributionally robust stochastic optimization-based model predictive control with distributionally robust chance constraints for cooperative adaptive cruise control under uncertain traffic conditi," Transportation Research Part B: Methodological, Elsevier, vol. 138(C), pages 144-178.
    7. Gong, Siyuan & Du, Lili, 2018. "Cooperative platoon control for a mixed traffic flow including human drive vehicles and connected and autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 116(C), pages 25-61.
    8. Qingyu Luo & Rui Du & Hongfei Jia & Lili Yang, 2022. "Research on the Deployment of Joint Dedicated Lanes for CAVs and Buses," Sustainability, MDPI, vol. 14(14), pages 1-20, July.
    9. Zhou, Yang & Zhong, Xinzhi & Chen, Qian & Ahn, Soyoung & Jiang, Jiwan & Jafarsalehi, Ghazaleh, 2023. "Data-driven analysis for disturbance amplification in car-following behavior of automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 174(C).
    10. Zhang, Hanyu & Du, Lili, 2023. "Platoon-centered control for eco-driving at signalized intersection built upon hybrid MPC system, online learning and distributed optimization part II: Theoretical analysis," Transportation Research Part B: Methodological, Elsevier, vol. 172(C), pages 199-216.
    11. Li, Chao & Zhao, Xiaomei & Xie, Dongfan, 2022. "Steady-state performance and dynamic performance of heterogeneous platoons under a connected environment," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 599(C).
    12. Liu, Zhongcheng & Sun, Dihua & Zhao, Min & Jin, Shuang & Zhang, Yicai, 2022. "Pinning control strategy and stability analysis of mixed platoon: A cyber–physical perspective," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 594(C).
    13. Wang, Jian & Lu, Lili & Peeta, Srinivas, 2022. "Real-time deployable and robust cooperative control strategy for a platoon of connected and autonomous vehicles by factoring uncertain vehicle dynamics," Transportation Research Part B: Methodological, Elsevier, vol. 163(C), pages 88-118.
    14. Liu, Chunyu & Sheng, Zihao & Chen, Sikai & Shi, Haotian & Ran, Bin, 2023. "Longitudinal control of connected and automated vehicles among signalized intersections in mixed traffic flow with deep reinforcement learning approach," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 629(C).
    15. Qin, Yanyan & Xiao, Tengfei & Wang, Hua, 2024. "Optimization strategy for connected automated vehicles to reduce energy consumption on freeway in rainy weather," Energy, Elsevier, vol. 296(C).
    16. Zhou, Yang & Wang, Meng & Ahn, Soyoung, 2019. "Distributed model predictive control approach for cooperative car-following with guaranteed local and string stability," Transportation Research Part B: Methodological, Elsevier, vol. 128(C), pages 69-86.
    17. Zhou, Yang & Ahn, Soyoung, 2019. "Robust local and string stability for a decentralized car following control strategy for connected automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 125(C), pages 175-196.
    18. Zhou, Linjie & Ruan, Tiancheng & Ma, Ke & Dong, Changyin & Wang, Hao, 2021. "Impact of CAV platoon management on traffic flow considering degradation of control mode," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 581(C).
    19. Zhou, Yang & Ahn, Soyoung & Wang, Meng & Hoogendoorn, Serge, 2020. "Stabilizing mixed vehicular platoons with connected automated vehicles: An H-infinity approach," Transportation Research Part B: Methodological, Elsevier, vol. 132(C), pages 152-170.
    20. Wei, Yuguang & Avcı, Cafer & Liu, Jiangtao & Belezamo, Baloka & Aydın, Nizamettin & Li, Pengfei(Taylor) & Zhou, Xuesong, 2017. "Dynamic programming-based multi-vehicle longitudinal trajectory optimization with simplified car following models," Transportation Research Part B: Methodological, Elsevier, vol. 106(C), pages 102-129.
    21. Victor Silva & Clauirton Siebra & Anand Subramanian, 2022. "Intersections management for autonomous vehicles: a heuristic approach," Journal of Heuristics, Springer, vol. 28(1), pages 1-21, February.
    22. Zhang, Hanyu & Du, Lili, 2023. "Platoon-centered control for eco-driving at signalized intersection built upon hybrid MPC system, online learning and distributed optimization part I: Modeling and solution algorithm design," Transportation Research Part B: Methodological, Elsevier, vol. 172(C), pages 174-198.
    23. Wang, Jian & Gong, Siyuan & Peeta, Srinivas & Lu, Lili, 2019. "A real-time deployable model predictive control-based cooperative platooning approach for connected and autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 128(C), pages 271-301.

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