HighlightsRolling horizon stochastic optimal control strategy for both ACC and CACC.Uncertainties in system dynamics and sensor measurements are considered.Normally-distributed additional disturbances to state and measurement equations.Multi-Objective function with bounded acceleration limit and collision protection.Linearly constrained LQG problem is solved using a separation principle.

    AbstractThis paper presents a rolling horizon stochastic optimal control strategy for both Adaptive Cruise Control and Cooperative Adaptive Cruise Control under uncertainty based on the constant time gap policy. Specifically, uncertainties that can arise in vehicle control systems and vehicle sensor measurements are represented as normally-distributed disturbances to state and measurement equations in a state-space formulation. Then, acceleration sequence of a controlled vehicle is determined by optimizing an objective function that captures control efficiency and driving comfort over a predictive horizon, constrained by bounded acceleration/deceleration and collision protection. The optimization problem is formulated as a linearly constrained linear quadratic Gaussian problem and solved using a separation principle, Lagrangian relaxation, and Kalman filter. A sensitivity analysis and a scenario-based analysis via simulations demonstrate that the proposed control strategy can generate smoother vehicle control and perform better than a deterministic feedback controller, particularly under small system disturbances and large measurement disturbances.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Rolling horizon stochastic optimal control strategy for ACC and CACC under uncertainty


    Contributors:


    Publication date :

    2017-07-24


    Size :

    16 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Multi-Model Adaptive Control for CACC Applications

    Navas, Francisco / Milanes, Vicente / Flores, Carlos et al. | IEEE | 2021



    Stability of CACC-manual heterogeneous vehicular flow with partial CACC performance degrading

    Wang, Hao / Qin, Yanyan / Wang, Wei et al. | Taylor & Francis Verlag | 2019


    Configurable Aerospace Command and Control (CACC)

    A. M. Newton / J. C. Clough | NTIS | 1999


    Truck CACC Implementation and Test to Verify Control Performance

    Lu, Xiao-Yun / Shladover, Steven / Bergquist, Stefan | Transportation Research Record | 2019