Platoon Centered Control for Eco-driving at Signalized Intersection Built upon Hybrid MPC System
Platoon Centered Control for Eco-driving at Signalized Intersection Built upon Hybrid MPC System
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DOI：
10.1109/itsc55140.2022.9922270
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Hanyu Zhang;L. Du
中科院分区：
文献类型：
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作者：
Hanyu Zhang;L. Du
尽管大量的研究已经开发出各种生态驾驶策略的车辆编队行驶在城市道路上的交通信号，其中大多数集中在车辆级的轨迹规划或速度咨询，而不是实时的车队级闭环控制。此外，大多数现有的努力忽略了交通和车辆动态的不确定性，以避免建模和解决方案的复杂性。为了弥补这些研究空白，提出了一种基于生态驾驶的车辆排队控制系统（SO-ED），该系统能够引导混合流车辆在城市道路上平稳行驶，通过信号交叉口时不会出现突然减速或红灯空转。SO-ED在数学上由混合模型预测控制（MPC）系统实现，该系统包括三个MPC控制器和MINLP队列分裂开关信号。本文根据系统的特点，采用有效集方法对大规模MPC控制器进行真实的实时求解。数值实验验证了所提出的SO-ED在平滑城市信号交叉口交通流、降低能耗和排放方面的优点。
Even though extensive studies have developed various eco-driving strategies for vehicle platoon to travel on urban roads with traffic signals, most of them focus on vehicle-level trajectory planning or speed advisory rather than real-time platoon-level closed-loop control. In addition, majority of existing efforts neglect the traffic and vehicle dynamic uncertainties to avoid the modeling and solution complexity. To make up these research gaps, this study develops a system optimal vehicle platooning control for eco-driving (SO-ED), which can guide a mixed flow platoon to smoothly run on the urban roads and pass the signalized intersections without sudden deceleration or red idling. The SO-ED is mathematically implemented by a hybrid model predictive control (MPC) system, including three MPC controllers and an MINLP platoon splitting switching signal. Based on the features of the system, this study uses active set method to solve the large-scale MPC controllers in real time. The numerical experiments validate the merits of the proposed SO-ED in smoothing the traffic flow and reducing energy consumption and emission at urban signalized intersections.