Platooning has the potential to significantly improve traffic flow, safety, and fuel consumption. In the foreseeable future, traffic will still be composed mainly of human-driven vehicles (HDVs). Thus, the importance of exploring mixed platoons consisting of automated vehicles (AVs) and HDVs. Mixed platoons control is challenging since HDVs incorporate major uncertainty and stochastic nature. In this paper, human driving stochastic behavior was analyzed. The findings of this analysis were incorporated in all aspects of controller development – modeling, estimation, and controller synthesis. An algorithm to find an optimal controller that attenuates the effect of HDVs stochasticity while keeping predefined safety constraints was developed. Using this algorithm, two $\mathcal {H}_{\infty }$ controllers are suggested: a robust controller and a gain-scheduling (GS) controller. The controllers were simulated using an information flow topology (IFT) that was suited for mixed-platoons. Results show that both controllers attenuates HDVs stochasticity. Compared to the robust controller, the GS controller improves performance mainly at high velocities.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Human Driving Centered Gain Scheduling Control of Mixed Platoons


    Beteiligte:
    Orki, Omer (Autor:in) / Borowsky, Avinoam (Autor:in) / Arogeti, Shai (Autor:in)


    Erscheinungsdatum :

    01.03.2023


    Format / Umfang :

    2390715 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Eco-Driving of General Mixed Platoons With CAVs and HDVs

    Yang, Jinsong / Zhao, Dezong / Lan, Jianglin et al. | IEEE | 2023


    Optimal Control of Mixed Platoons with Autonomous and Human-Driven Vehicles

    Tian, Daxin / Zhang, Peiyu / Zhou, Jianshan et al. | IEEE | 2021




    Coordination of Mixed Platoons and Eco-Driving Strategy for a Signal-Free Intersection

    Jiang, Simin / Pan, Tianlu / Zhong, Renxin et al. | IEEE | 2023