Details

Autor(en) / Beteiligte

• Wen, Jianghui
• Wang, Shuai
• Wu, Chaozhong
• Xiao, Xinping
• Lyu, Nengchao

Titel

A Longitudinal Velocity CF-MPC Model for Connected and Automated Vehicle Platooning

Ist Teil von

• IEEE transactions on intelligent transportation systems, 2023-06, Vol.24 (6), p.6463-6476

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2023

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• To optimize a vehicle platoon system in terms of car-following behavior, a decentralized model predictive control (MPC) strategy for longitudinal velocity control was established (namely, CF-MPC). Firstly, considering the influence of car-following behavior on vehicle states, a longitudinal velocity control model for platoons of connected and automated vehicles (CAV) was designed. Based on that model, an upper-level MPC controller was built to obtain the desired acceleration of the vehicles. Secondly, a lower-level controller received the desired acceleration signal and converted it into the expected throttle opening/braking pressure, to control acceleration/deceleration. Then, the Lyapunov stability method was used to detect the stability conditions that the model should satisfy. Finally, three simulation procedures-constant speed, acceleration, and deceleration were tested, and the validity of the CF-MPC method was verified from the perspectives of a model strategy and a control strategy. The simulation results show that with the proposed CF-MPC method, CAV platoons quickly completed velocity tracking and maintained a safe distance, thereby improving traffic efficiency, fuel economy, driving safety, and transportation capacity.