Real-Time Distributed Cooperative Adaptive Cruise Control Model Considering Time Delays and Actuator Lag
Real-Time Distributed Cooperative Adaptive Cruise Control Model Considering Time Delays and Actuator Lag
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DOI：
10.1177/03611981221091762
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发表时间：
2022-05-18
影响因子：
1.7
通讯作者：
Zhang, Kuilin
中科院分区：
文献类型：
--
作者：
Tan, Yingtong;Zhang, Kuilin
用于协同自适应巡航控制（CACC）的联网自动驾驶车辆（CAV）车队的实时控制是一个具有挑战性的问题，涉及时间延迟（来自感测、通信和计算）和致动器滞后。针对实时网络控制系统中的时延和执行器滞后问题，提出了一种实时预测分布式CACC控制框架。我们首先制定基于卡尔曼滤波器的实时当前驾驶状态预测模型，以通过使用来自多速率车载传感器（例如，雷达、GPS、轮速和加速度计），以及通过V2V通信在BSM中共享状态和意图数据。我们解决了预测模型使用顺序卡尔曼滤波器更新过程中的多速率传感数据，以提高计算效率。我们提出了一个实时分布式MPC为基础的CACC控制器与执行器滞后和意图共享信息，为每个CAV的延迟补偿预测当前的驾驶状态作为初始条件。我们实现了实时预测分布式CACC控制算法，并进行数值分析，以证明基于意图共享的分布式计算，延迟补偿和致动器滞后考虑在各种交通动态下对字符串稳定性的好处。
Real-time control of a fleet of Connected and Automated Vehicles (CAV) for Cooperative Adaptive Cruise Control (CACC) is a challenging problem concerning time delays (from sensing, communication, and computation) and actuator lag. This paper proposes a real-time predictive distributed CACC control framework that addresses time delays and actuator lag issues in the real-time networked control systems. We first formulate a Kalman Filter-based real-time current driving state prediction model to provide more accurate initial conditions for the distributed CACC controller by compensating time delays using sensing data from multi-rate onboard sensors (e.g., Radar, GPS, wheel speed, and accelerometer), and status-sharing and intent-sharing data in BSM via V2V communication. We solve the prediction model using a sequential Kalman Filter update process for multi-rate sensing data to improve computational efficiency. We propose a real-time distributed MPC-based CACC controller with actuator lag and intent-sharing information for each CAV with the delay-compensated predicted current driving states as initial conditions. We implement the real-time predictive distributed CACC control algorithms and conduct numerical analyses to demonstrate the benefits of intent-sharing-based distributed computing, delay compensation, and actuator lag consideration on string stability under various traffic dynamics.