Impact of Communication Loss on MPC based Cooperative Adaptive Cruise Control and Platooning
Impact of Communication Loss on MPC based Cooperative Adaptive Cruise Control and Platooning
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DOI：
10.1109/vtc2021-fall52928.2021.9625177
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发表时间：
2021-06
期刊：
影响因子：
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通讯作者：
Mahdi Razzaghpour;Shahriary Shahram;Rodolfo Valiente;Y. P. Fallah
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文献类型：
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作者：
Mahdi Razzaghpour;Shahriary Shahram;Rodolfo Valiente;Y. P. Fallah
通过自动化车辆系统之间的通信实现合作驾驶，预计将大大有助于运输安全和效率。协同自适应巡航控制(CACC)和排队是目前正在研究的两种主要的协同驾驶应用。与目前先进的驾驶员辅助系统(如自适应巡航控制(ACC))相比，这些应用提供了显著的改进。CACC和排队的主要动机是减少交通拥堵，提高交通流量、交通吞吐量和公路通行能力。这些应用需要一个有效的控制器来考虑计算成本，并确保驾驶舒适性和高响应性。模型预测控制的优点是我们可以实现高控制性能，因为这些应用的所有约束都可以通过求解优化问题来显式处理。这些应用程序高度依赖信息更新和通信可靠性来实现其安全性和稳定性。在本文中，我们提出了一种基于模型预测控制(MPC)的CACC和排队方法，并考察了通信丢失对控制方案的性能和鲁棒性的影响。结果表明，在响应时间和字符串稳定性方面有所改善，显示了合作在抑制干扰和改善交通流量方面的潜力。
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main cooperative driving applications that are currently under study. These applications offer significant improvements over current advanced driver assistant systems such as adaptive cruise control (ACC). The primary motivation of CACC and Platooning is to reduce traffic congestion and improve traffic flow, traffic throughput, and highway capacity. These applications need an efficient controller to consider the computational cost and ensure driving comfort and high responsiveness. The advantage of Model Predictive Control is that we can realize high control performance since all constrains for these applications can be explicitly dealt with through solving an optimization problem. These applications highly depend on information updates and Communication reliability for their safety and stability purposes. In this paper, we propose a Model Predictive Control (MPC) based approach for CACC and platooning, and examine the impact of communication loss on the performance and robustness of the control scheme. The results show an improvement in response time and string stability, demonstrating the potential of cooperation to attenuate disturbances and improve traffic flow.