The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and to respond to speed changes in a collision-free, stable and cooperative way. The platoon is modelled as a cascaded network with linear longitudinal vehicle dynamics, independent physical constraints, and coupling safety constraints. In the case of global information sharing, the authors first propose a centralised collision-free solution on the basis of model predictive control that guarantees asymptotic platoon tracking of speed changes and satisfaction of system constraints during the transient process. A cooperative distributed approach is then further proposed on the basis of the alternating direction method of multipliers resulting in a scheme involving communication only with the roadside infrastructure, e.g. the speed manager. Vehicles in a platoon conduct parallel computation while still achieving global optimal performance and coordination with respect to the collision avoidance constraints. Convergence properties of the distributed solutions are established for the concerned vehicle platoon problem. Simulation results show satisfactory platoon performance and demonstrate the effectiveness of the proposed algorithms.
Cooperative distributed predictive control for collision-free vehicle platoons
IET Intelligent Transport Systems ; 13 , 5 ; 816-824
2019-01-11
9 pages
Article (Journal)
Electronic Resource
English
global information sharing , speed manager , independent physical constraints , distributed control , cooperative way , collision avoidance constraints , coupling safety constraints , collision-free vehicle platoons , individual vehicles , predictive control , asymptotic platoon tracking , dynamic speed management , system constraints , collision avoidance , decentralised control , vehicles , distributed predictive control , vehicle dynamics , satisfactory platoon performance , road safety , road vehicles , speed changes , cascaded network , linear longitudinal vehicle dynamics , distributed solutions , road traffic control , model predictive control , platoon conduct parallel computation , intelligent vehicles , optimisation , desired inter-vehicle spaces , distributed approach , rapidly developing computing , concerned vehicle platoon problem , centralised collision-free solution
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Cooperative distributed predictive control for collision‐free vehicle platoons
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