Optimal Connected Cruise Control With Arbitrary Communication Delays

Connected cruise control (CCC), as an approach to regulate vehicle's longitudinal motion in car-following platoon scenarios, can improve the safety and efficiency of the traffic flow. In order to make it available for extensive information sharing among vehicles, wireless vehicle-to-vehicle (V2...

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Bibliographic Details
Published in:IEEE systems journal 2020-06, Vol.14 (2), p.2913-2924
Main Authors: Wang, Zhuwei, Gao, Yu, Fang, Chao, Liu, Lihan, Guo, Song, Li, Peng
Format: Article
Language:English
Subjects:
Acceleration
Algorithms
Car following
Communication
Communication delays
Computer simulation
connected cruise control (CCC)
Control algorithms
Control stability
Control theory
Cost function
Cruise control
Delay effects
Delays
Discrete time systems
Feedback control
Longitudinal control
Mathematical models
Optimal control
Quadratic forms
Stability analysis
State feedback
Systems stability
Traffic flow
Traffic safety
Vehicle dynamics
vehicle-to-vehicle (V2V) communication
Vehicular ad hoc networks
Wireless communications
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Summary:Connected cruise control (CCC), as an approach to regulate vehicle's longitudinal motion in car-following platoon scenarios, can improve the safety and efficiency of the traffic flow. In order to make it available for extensive information sharing among vehicles, wireless vehicle-to-vehicle (V2V) communication is exploited in the vehicular platoon. However, time delays caused by wireless communication may result in significant degradation of system stability. In this article, considering arbitrary V2V communication delays, an optimal longitudinal control algorithm is proposed for the CCC vehicle with the goal of minimizing the deviations of vehicle's headway and velocity. In the proposed scheme, the vehicular platoon is modeled as a discrete-time system based on vehicle's error dynamics, and the optimal-state feedback control problem is designed as a cost function represented by a sum of platoon states in a quadratic form. A backward recursion method is used to iteratively derive the optimal control strategy, namely the acceleration for CCC vehicle, based on the current platoon states and previous control signals. In addition, the stability analysis shows that the system is asymptotically mean square stable under the control of the proposed algorithm. Finally, numerical simulations indicate that the proposed algorithm provides better system performance and stability.
ISSN:1932-8184
1937-9234
DOI:10.1109/JSYST.2019.2933001