This paper proposes a driver-centric data-driven model predictive control (DDMPC) strategy to improve driving comfort while maintaining driving safety of vehicular platoon. This strategy combines a data-driven model predictive controller and the driver-centric driving policy. The data-driven platoon model involving longitudinal-lateral dynamics is established with subspace identification to alleviate the adverse effects of uncertain dynamics. Then, a subspace predictor-based distributed data-driven model predictive controller is developed for vehicular platoon. To overcome the cutting-corner phenomenon on curved roads, the reference point is shifted from the preceding vehicle to an optimal corridor point behind it. In this way, a driver-centric driving policy is designed with a flexible spacing and soft control constraints to balance driving safety and driving comfort in terms of different driving styles. Finally, several experiments with sixty drivers are carried out on a self-developed vehicular platoon platform. The experimental results demonstrate the effectiveness of the proposed DDMPC strategy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Driver-Centric Data-Driven Model Predictive Vehicular Platoon With Longitudinal-Lateral Dynamics


    Contributors:
    Wu, Yanhong (author) / Zuo, Zhiqiang (author) / Wang, Yijing (author) / Han, Qiaoni (author) / Li, Ji (author) / Xu, Hongming (author)

    Published in:

    Publication date :

    2024-10-01


    Size :

    2679133 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Surrogate-Driven Multiobjective Predictive Control for Electric Vehicular Platoon

    Wu, Yanhong / Zuo, Zhiqiang / Wang, Yijing et al. | IEEE | 2024



    Longitudinal and Lateral Coordinated Control of a Platoon Based on Improved Intelligent Driver Model

    Qin, Pin-pin / Tan, Hong-yun / Zhang, Shun-feng et al. | ASCE | 2022


    Lateral and longitudinal control of bus platoon

    Tammi, Kari / Hyvarinen, Valtteri | IEEE | 2018