Abstract
Vehicle platooning gains its popularity in improving traffic capacity, safety and fuel saving. The key requirements of an effective platooning strategy include keeping a safe inter-vehicle space, ensuring string stability and satisfying vehicular constraints. To meet these requirements, this paper proposes a distributed min-max model predictive control (MPC). One technical contribution is that the proposed MPC can guarantee input-to-state predecessor-follower string stability, in the presence of vehicle-to-vehicle communication delays and realistic constraints. Another technical contribution is the development of a new concept of input-to-state stability margin for analyzing the platooning system that is nonlinear under MPC. The proposed MPC is applicable to both homogeneous and heterogeneous platoons because only the point-mass vehicle model is needed. The proposed MPC also has reduced communication burden because each vehicle in the platoon only transmits its current acceleration to the adjacent follower. The design efficacy is verified by simulating a platoon composed of five vehicles under different uncertainties and communication delays.
Highlights
Vehicle platooning, or cooperative adaptive cruise control, is an enhanced adaptive cruise control (ACC) enabled by vehicle-to-vehicle (V2V) wireless communication
Similar as ACC, vehicle platooning uses the inter-vehicle space and intervehicle speed between each pair of two successive vehicles, which are measured by onboard radar
The deployment of vehicle platoons on the road has the potential in improving traffic capacity, safety and fuel saving
Summary
Cooperative adaptive cruise control, is an enhanced adaptive cruise control (ACC) enabled by vehicle-to-vehicle (V2V) wireless communication. The key requirement of platooning control is ensuring string stability under safety and physical constraints This cannot be met by using the traditional MPC with onlinecomputed nonlinear control policy [6,7,8]. This paper will consider the input-to-state predecessor-follower (ISPF) string stability because it is more generic and is scalable to platoons in any size It has not been discussed in existing MPC designs. This paper will construct a larger but less conservative terminal constraint set to facilitate MPC implementation and improve platooning performance. (i) A distributed min-max MPC is proposed for vehicle platooning guaranteeing ISPF string stability. The min-max MPC design considers the worst delay and ensures stability of the platoon and satisfaction of constraints. A continuous function β : [0, b) × [0, ∞) → [0, ∞) is a KL function if, for each fixed s, β(·, s) is a K function, and for each fixed r, β(r, ·) is decreasing with β(r, s) → 0 as s → ∞
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