Connected Vehicular Systems
Description
A framework for the analysis and design of connected vehicle systems, featuring numerous simulations, experimental studies, and problem-solving approaches
Connected Vehicular Systems synthesizes the research advances of the past decade to provide readers with practical tools to analyze and design all aspects of connected autonomous vehicle systems, addressing a series of major issues and challenges in autonomous connected vehicles and transportation systems, such as sensing, communication, control design, and command actuating. The text provides direct methodologies for solving important problems such as speed planning, cooperative adaptive cruise control, platooning, and string traffic flow stability, with numerous simulations and experimental studies for implementing algorithms and parameter settings.
To help the reader better understand and implement the concepts discussed, the text includes a variety of worked examples, including those related to car following, vehicular platooning problem, string stability, cooperative adaptive cruise control, and vehicular communications.
Written by two highly qualified academics with significant experience in the field, Connected Vehicular Systems includes information on:
* Varying communication ranges, interruptions, and topologies, along with controls for event-triggered communication
* Fault-tolerant and adaptive fault-tolerant controls with actuator saturation, input quantization, and dead-zone nonlinearity
* Prescribed performance concurrent controls, adaptive sliding mode controls, and speed planning for various scenarios, such as to reduce inter-vehicle spacing
* Control paradigms aimed at relaxing communications constraints and optimizing system performance
* Detailed algorithms and parameter settings that readers can implement in their own work to drive progress in the field
Connected Vehicular Systems is an essential resource on the subject for mechanical and automotive engineers and researchers involved with the design and development of self-driving cars and intelligent transportation systems, along with graduate students in courses that cover vehicle controls within the context of control systems or vehicular systems engineering.
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Persons
Ge Guo is a Professor at Northeastern University, China, having previously held positions as a Professor at Dalian Maritime University and as Director of the Institute of Intelligent Robotics at Lanzhou University of Technology.
Shixi Wen is an Associate Professor at Dalian University.
Content
Preface ix
Acknowledgments xiii
Part I Vehicular Platoon Communication and Control 1
1 Control with Varying Communication Range 3
1.1 Introduction 3
1.2 Problem Formulation 5
1.3 Switching Control of Connected Vehicles 9
1.4 Simulations and Experiments 16
1.5 Conclusions and Future Work 23
References 24
2 Control Subject to Communication Interruptions 26
2.1 Introduction 26
2.2 Problem Formulation 27
2.3 Mixed CACC-ACC Control 28
2.4 Finite-Time Sliding-Mode Control 32
2.5 Numerical Simulations 34
2.6 Conclusions and Future Work 39
References 41
3 Control and Communication Topology Assignment 42
3.1 Introduction 42
3.2 Problem Statement 44
3.3 Communication Topology and Control Co-Design 48
3.4 Simulation Studies 57
3.5 Conclusions and Future Work 70
References 70
4 Control with Communication Delay and Switching Topologies 72
4.1 Introduction 72
4.2 Problem Formulation 73
4.3 Stability Analysis 77
4.4 Controller Synthesis 82
4.5 Simulation Studies 86
4.6 Conclusions and Future Work 95
References 96
5 Control with Event-Triggered Communication 97
5.1 Introduction 97
5.2 Problem Formulation 99
5.3 Event-Triggered Communication and Platoon Control 104
5.4 Simulation Study 107
5.5 Conclusions and Future Work 119
References 120
Part II Performance Guarantee Under Actuator Limitation 121
6 Adaptive Fault-Tolerant Control with Actuator Saturation 123
6.1 Introduction 123
6.2 System Modeling and Problem Formulation 124
6.3 Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 127
6.4 Controller Design and Stability and Analysis 128
6.5 Simulation Results 135
6.6 Conclusions and Future Work 139
References 142
7 Fault-Tolerant Control with Input Quantization and Dead Zone 143
7.1 Introduction 143
7.2 System Modeling and Problem Formulation 144
7.3 Improved Quadratic Spacing Policy and Adaptive PID-Type Sliding Surface 148
7.4 Controller Design and Stability Analysis 149
7.5 Simulation Results 155
7.6 Conclusions and Future Work 157
References 163
8 Prescribed Performance Concurrent Control 165
8.1 Introduction 165
8.2 Problem Formulation 166
8.3 Controller Design Guaranteed Prescribed Performance 168
8.4 Simulation Studies 175
8.5 Conclusions and Future Work 179
References 179
9 Adaptive Sliding Mode Control with Prescribed Performance 181
9.1 Introduction 181
9.2 Problem Formulation 181
9.3 Model Transformation 184
9.4 Vehicles Tracking Controller Design 185
9.5 Simulation Studies 190
9.6 Conclusions and Future Work 197
References 198
Part III Speed Trajectory Planning and Control 199
10 Speed Planning and Tracking Control of Vehicles 201
10.1 Introduction 201
10.2 Problem Formulations 202
10.3 Speed Planning 205
10.4 Speed Tracking Controller Design 207
10.5 Simulation and Experiments 213
10.6 Conclusions and Future Work 221
References 224
11 Analytical Solution for Speed Planning and Tracking Control 225
11.1 Introduction 225
11.2 System Modeling and Problem Formulation 226
11.3 Speed Optimization Based on PMP 228
11.4 Speed Tracking Control and String Stability 232
11.5 Simulation Studies 237
11.6 Conclusions and Future Work 240
References 241
12 Speed Planning and Sliding-Mode Control to Reduce Intervehicle Spacing 242
12.1 Introduction 242
12.2 Problem Statement 243
12.3 Intervehicle Spacing Optimization 246
12.4 Sliding-Mode Controller Design 250
12.5 Simulation Studies 253
12.6 Conclusions and Future Work 265
References 266
13 Trajectory Planning and PID-Type Sliding-Mode Control to Reduce Intervehicle Spacing 268
13.1 Introduction 268
13.2 Problem Description 269
13.3 Distributed Trajectory Optimization 271
13.4 PID-Type Sliding-Mode Controller Design 275
13.5 Simulation Results 278
13.6 Conclusions and Future Work 288
References 288
14 Trajectory Planning and Fixed-Time Terminal Sliding-Mode Control 290
14.1 Introduction 290
14.2 Problem Formulation 291
14.3 Vehicles Trajectory Optimization 293
14.4 Fixed-Time Tracking Control Design 297
14.5 Numerical Simulations 301
14.6 Conclusions and Future Work 307
References 307
Index 309
Preface
With the ubiquitous application of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication technologies, connected and automated vehicles (CAVs) are capable of gathering and sharing road and traffic information and even vehicle states with neighboring vehicles. In particular, enabled by the information shared, CAVs allow automated vehicle motion, car following, cooperated driving and platooning, and vehicle-traffic signal cooperative control. Therefore, CAVs are believed to be a promising technology to deliver greater safety and mobility benefits to the new generation of intelligent transportation systems (ITSs) with increased driving safety, ride comfort, traffic efficiency, and throughput, along with reduced congestion, accidents, emissions, and air pollution. However, the operation of CAVs and the associated ITSs depends heavily on timely and reliable information gathering and sharing, proper decision-making, and effective actuation of the driving decision. However, critical challenging issues are facing CAVs from all aspects including sensing, communication, control design, and command actuating, which, if not properly addressed, can result in safety risks and losses.
This book contains our research advances in the past decade in the analysis and synthesis of CAV systems from all aspects of trajectory planning, cooperative control, and communication. The focus of this book is on the development of mathematical models and methodologies for trajectory optimization and tracking control, communications conflict resolution, cooperative control subject to communication constraints, and sensor/actuator failures/faults for CAVs from different perspectives. This book is composed of 14 chapters. The contents are divided into three parts, with Chapter 1 - Chapter 5 as Part I, Chapter 6 - Chapter 9 as Part II, and Chapter 10 - Chapter 14 as Part III, respectively, concerned with cooperative vehicular communication and control, performance guarantee under actuator limitations, and speed trajectory planning and tracking control of CAVs.
Chapter 1 studies the platoon control problem subject to varying communication range with a constant-spacing policy. According to the connectivity status between the leader and each follower, connected vehicles control is modeled as a switched platoon control system with a connectivity-status-matrix-dependent controller. By using switched system theory, a series of sufficient conditions are obtained as a criterion for the stability analysis and control synthesis of the leader following platoon. Based on the obtained conditions, a useful control algorithm is proposed for connected vehicles. For each obtained connectivity-status-matrix-dependent controller, the string stability and a zero steady-state spacing error can be guaranteed by additional conditions.
Chapter 2 investigates platooning of connected vehicles considering communication interruption and latency. For a heterogeneous platoon of vehicles, a hybrid reference model with cooperative adaptive cruise control (CACC) and adaptive cruise control (ACC) is established. Then a novel CACC-ACC switching control method is suggested, which activates either a CACC scheme or an augmented ACC strategy depending on the status of communications. By introducing a platoon state tracking error system, a control algorithm is derived using finite-time sliding-mode control theory, which can robustly guarantee string stability and zero steady-state spacing error of the connected vehicles.
Chapter 3 studies the co-design problem of platoon controller and inter-vehicle communication topology (IVCT) in LTE-V2V networks. The communication assignment is achieved based on the cooperative awareness message dissemination mechanism. A sampled-data feedback controller is proposed for connected vehicles to eliminate the effect of stochastic packet dropouts and external disturbance, where the controller gain depends on the IVCT. To guarantee the stability requirement of connected vehicles with the minimized cost function, a unified control framework is established to jointly determine the optimal IVCT from all the available ones and the associated feedback controller gain. This co-design procedure is based on the optimal control and dynamic programming technique, where both fixed and periodic switching IVCTs are available. A useful algorithm is proposed to implement the established co-design framework.
Chapter 4 addresses the platoon control problem in a sampled-data setup with switching communication topology and transmission delays. A tracking error-based sampled-data control method is proposed, where the neighboring vehicle's state information is transmitted via the VANET with communication delay. By representing the switching communication topology by a Markovian chain, the connected vehicular control system is modeled as a Markovian switching time-delay system with disturbance. In the context of Markovian jumping system theory, a control methodology is obtained for connected vehicles to guarantee that the tracking errors can be stabilized mean-square exponentially with a given disturbance attenuation level. The controllers of connected vehicles with both fixed and variable gains are suggested. The results are extended to cover partially unknown transition rates of the Markov chains.
Chapter 5 studies the co-design problem considering a dynamic event-triggered communication mechanism (DECM). Under the DECM, the transmissions of sampled velocity and acceleration from a preceding vehicle to the controller can be significantly reduced. A sampled-data platoon controller is designed based on the tracking error (spacing error, velocity error, and acceleration error). Sufficient conditions for the stability of the CACC system are obtained for the DECM-based sampled-data feedback controller. According to the obtained conditions, parameter design criteria are established for the DECM to guarantee the stable performance of connected vehicles control systems.
Chapter 6 addresses a fault-tolerant control problem for connected vehicles subject to actuator faults and saturation. To compensate for the effects of actuator faults and saturation, an adaptive fault-tolerant control method is proposed based on nonlinear vehicle dynamics and a new quadratic spacing policy. The improved quadratic spacing policy is introduced to remove the assumption of zero initial spacing errors. The nonlinear vehicle dynamics is approximated by a radial basis function neural network (RBFNN). The adaptive fault-tolerant control method is developed in the context of the PID-type sliding-mode control technique and proved to be capable of guaranteeing individual vehicle stability, string stability, and traffic flow stability.
Chapter 7 revisits the fault-tolerant control problem for connected vehicles considering actuator faults, input quantization, and dead-zone nonlinearity. The occurrence of actuator faults may cause abrupt velocity and acceleration change, which may yield a violation of the spacing policy. So, an improved quadratic spacing policy reflecting the effect of actuator fault is proposed, which removes the condition of zero initial spacing errors. Then, an adaptive fault-tolerant control scheme is developed by employing RBFNN and PID-type sliding-mode control method.
Chapter 8 investigates prescribed performance concurrent control (PPCC) of connected vehicles with unknown parameters, disturbances, and actuator saturation. A closer spacing policy is introduced to achieve string stability with a virtual leader-bidirectional information flow. Based on a new transformed tracking error function and an auxiliary system introduced to deal with actuator saturation, a distributed adaptive tracking PPCC controller is designed to achieve individual vehicle stability and string stability in the sense that all the signals in the system are uniformly ultimately bounded.
Chapter 9 revisits the prescribed performance platoon control problem in the presence of actuator saturation, uncertain parameters, and unknown disturbances. Two adaptive sliding-mode control schemes based on leader-predecessor and leader-bidirectional information flows, respectively, are presented to ensure string stability and strong string stability with prescribed tracking performance. The actuator saturation nonlinearity is approximated with a smooth hyperbolic tangent function. The effects of uncertain parameters and exogenous disturbances are dealt with by introducing a set of adaptation laws.
Chapter 10 studies the speed optimization and tracking control problem for heavy-duty truck platoons. The speed planning algorithm is derived with regard to an average vehicle based on a combined fuel-time cost and receding dynamic programming. The idea of using an average vehicle instead of the leader for speed planning makes the speed profile more fuel-efficient for platooning of vehicles different in weight and size. The vehicle controller, a discrete-time back-stepping control law, is designed on the basis of a nonlinear vehicle model considering road slope and heterogeneity of vehicles. The control algorithm is strengthened by a novel string stability criterion.
Chapter 11 is concerned...
