Cooperative Adaptive Cruise Control in a Mixed-Autonomy Traffic System: A Hybrid Stochastic Predictive Approach Incorporating Lane Change
Cooperative Adaptive Cruise Control in a Mixed-Autonomy Traffic System: A Hybrid Stochastic Predictive Approach Incorporating Lane Change
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DOI：
10.1109/tvt.2022.3202084
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发表时间：
2023-01
影响因子：
6.8
通讯作者：
Sahand Mosharafian;Javad Mohammadpour Velni
中科院分区：
文献类型：
--
作者：
Sahand Mosharafian;Javad Mohammadpour Velni
本文提出了一种随机和预测控制设计方法，连接和自动驾驶车辆（CAV）在混合自主交通环境中，其中CAV能够正确地反应人类驾驶车辆（HV）的不确定机动。所提出的全自动协同自适应巡航控制（CACC）设计利用离散混合随机模型预测控制器，该控制器基于车载传感器数据和通过车对车（V2V）通信接收的信息自动确定车辆的操作模式。操作模式包括自由跟随、警告、危险、紧急制动和车道变换。虽然控制器主要集中在保持CAV之间的期望速度和距离，但它也允许HV执行换道机动，并在需要时并入队列的车道。响应于HV在车道中的位置及其概率行为，控制器可以切换CAV的操作模式以相应地作出反应。考虑到自由跟随和紧急制动模式，可以实现高效安全的自动驾驶。在警告、危险和车道变换模式之间切换沿着调整转向角以在需要时执行车道变换操纵，增强了车队的性能以抵抗意外的人类驾驶车辆操纵。仿真研究进行了验证所提出的控制设计方法的有效性。所提出的控制设计方法的性能进行了比较，使用仿真研究的开关控制。
This paper presents a stochastic and predictive control design approach for connected and automated vehicles (CAVs) in a mixed-autonomy traffic environment, where CAVs are able to react properly to uncertain maneuvers of human-driven vehicles (HVs). The proposed fully-automated cooperative adaptive cruise control (CACC) design leverages a discrete hybrid stochastic model predictive controller that automatically determines the vehicle's operating mode based on onboard sensors data and information received through vehicle-to-vehicle (V2V) communication. Operating modes include free following, warning, danger, emergency braking, and lane change. Although the controller mainly focuses on maintaining the desired velocity and distance among CAVs, it also allows HVs to perform lane-change maneuvers and merge into the platoon's lane when needed. In response to an HV's position in the lane and its probabilistic behavior, the controller may switch the CAV's operating mode to react accordingly. Considering free-following and emergency-braking modes leads to efficient and safe autonomous driving. Switching between warning, danger, and lane-change modes along with adjusting the steering angle to perform a lane-change maneuver, when needed, robustifies the platoon's performance against unexpected human-driven vehicle maneuvers. Simulation studies are conducted to validate the efficacy of the proposed control design approach. The performance of the proposed control design approach is also compared to a switching control using simulation studies.