Robust Platoon Control of Mixed Autonomous and Human-Driven Vehicles for Obstacle Collision Avoidance:A Cooperative Sensing-Based Adaptive Model Predictive Control Approach

Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.

A Lane Change Model Considering the Stability of Cooperative Adaptive Cruise Control Platoon Fleet

In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow stability.The influences of various factors such as lane change locations,timing,and the current traffic state on stability are discussed.In this analysis,it is assumed that the lane change location and the entry position in the adjacent lane have already been selected,without considering the specific intention behind the lane change.The speeds of the involved vehicles are adjusted based on an existing lane change model,and various conditions are analyzed for traffic flow disturbances,including duration,shock amplitude,and driving delays.Numerical calculations are provided to illustrate these effects.Additionally,traffic flow stability is factored into the lane change decision-making process.By incorporating disturbances to the fleet into the lane change income model,both a lane change intention model and a lane change execution model are constructed.These models are then compared with a model that does not account for stability,leading to the corresponding conclusions.

Modelling of a Human Driver’s Interaction with Vehicle Automated Steering Using Cooperative Game Theory

The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such interaction, while its counterpart, cooperative game theory is rarely discussed for similar applications despite it may be potentially more suitable. This paper describes the modelling of a human driver’s steering interaction with an automated steering system using cooperative game theory. The distributed Model Predictive Control approach is adopted to derive the driver’s and the automated steering system’s strategies in a Pareto equilibrium sense, namely their cooperative Pareto steering strategies. Two separate numerical studies are carried out to study the influence of strategy parameters, and the influence of strategy types on the driver’s and the automated system’s steering performance. It is found that when a driver interacts with an automated steering system using a cooperative Pareto steering strategy, the driver can improve his/her performance in following a target path through increasing his/her effort in pursuing his/her own interest under the driver-automation cooperative control goal. It is also found that a driver’s adoption of cooperative Pareto steering strategy leads to a reinforcement in the driver’s steering angle control, compared to the driver’s adoption of non-cooperative Nash strategy. This in turn enables the vehicle to return from a lane-change maneuver to straight-line driving swifter.

Immune multi-agent model using vaccine for cooperative air-defense system of systems for surface warship formation based on danger theory

Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune system （BIS） according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system （MAS）, the vaccine and the danger theory （DT）. Moreover a new immune multi-agent model using vaccine based on DT （IMMUVBDT） for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.

Stability analysis of lead-vehicle control model in cooperative adaptive cruise control platoon within heterogeneous traffic flow

In order to analyze the stability impact of cooperative adaptive cruise control （CACC） platoon, an adaptive control model designed for the lead vehicle in a CACC platoon （LCACC model） in heterogeneous traffic flow with both CACC and manual vehicles is proposed. Considering the communication delay of a CACC platoon, a frequency-domain approach is taken to analyze the stability conditions of the novel lead-vehicle CACC model. Field trajectory data from the next-generation simulation （NGSIM） data is used as the initial condition. To account for car- following behaviors in reality, an intelligent driver model （IDM） is calibrated with the same NGSIM dataset from a previous study to model manual vehicles. The stability conditions of the proposed model are validated by the ring- road stability analysis. The ring-road test results indicate the potential of the LCACC model for improving the traffic flow stability impact of CACC platoons. Sensitivity analysis shows that the CACC fleet size has impact on the parameters of the LCACC model.

A 3D Geometry-Based Scattering Model for Vehicleto-Vehicle Wideband MIMO Relay-Based Cooperative Channels

In this paper, a three-dimensional(3D) geometry- based stochastic scattering model(GBSSM) for wideband multi-input multi-output(MIMO) vehicle-to-vehicle(V2V) relay-based cooperative fading channel based on geometrical three-cylinder is proposed. Non-line-of-sight(NLOS) propagation condition is assumed in amplify-and-forward(AF) cooperative networks from the source mobile station(S) to the destination mobile station(D) via the mobile relay station(R). We extend the proposed narrowband model to wideband and also introduce the carrier frequency and bandwidth into the model. To avoid complicated procedure in deriving the analytical expressions of the channel parameters and functions, the channel is realized first. By using the realized channel matrix, the channel properties are further investigated.

A novel lattice model integrating the cooperative deviation of density and optimal flux under V2X environment

A novel lattice hydrodynamic model is proposed by integrating the cooperative deviation of density and optimal flux under vehicle to X(V2X) environment. According to the theoretical analysis, the stability conditions and the mKdV equations affected by the cooperative deviation of traffic information are explored. And the density wave, hysteresis loop and energy consumption of the traffic flow have been investigated via numerical simulation. The results indicate that the cooperative deviation of density and optimal flux can effectively alleviate the traffic congestion. More importantly, our new consideration can reduce fuel consumption and exhaust emission under the V2X environment.

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.

Women＇s Cooperatives Contributions to Local Region Economy： Seferihisar Agricultural Cooperative Development Model-Turkey

The cooperative movement has played a very important role in the social and economic development of all countries since 19th eentury＇s second half. Cooperatives provide health, housing, and banking services; they promote education and gender equality; they protect the environment and workers＇ rights. According to 2014＇s data, the total number of cooperatives is 79,486 in Turkey, while the total number of partners of cooperatives is approximately 7.8 million. The research＇s sample group ＂Hidirlik Agricultural Development Cooperative＂ was founded by the wife of the Seferihisar＇s mayor and six women. It has been a subject of curiousity that the contributions of the cooperative have developed the economy of the region since 2010. Therefore, various questions asked to the president and members of the cooperative, and significant results were obtained. In this research ＂Interview technique＂ was used. The fact that within the boundaries of local governments, the establishment of ＂women＇s cooperatives＂ and their active management can be supported with 10 basic criteria for the regional and national development can be predicted. These dimensions： ecological balance and sensitivity, the revival of the tourism sector, the mobility of logistics activities, new investments and increase of land value, the increase of women employment, the increase of healthy living standards, increase of competitiveness and trade earnings, the creation of new brands, widespread of the agricultural sector, and the increase of social and educational level of women. The similiar implementation of ＂Seferihisar Women＇s Cooperatives Model＂ in the research is considered form an important enterprenurship model not only in Turkey but also for all countries.

Research on Contractual Model Selection of Farmers' Cooperatives——A Case Study of Production and Marketing Cooperative of Sweet Pomegranate in Mengzi,Yunnan

In the perspective of new institutional economics,we regard farmers' cooperatives as a "contractual set" integrating a series of long-term contractual relations,and transform the selection problem of organization forms into selection problem of contractual model within organization.By the theoretical framework of Transaction Cost Economics,we analyze the formation mechanism and determinant factors of contractual model of different farmers' cooperatives and conduct case study on Production and Marketing Cooperative of Sweet Pomegranate in Mengzi,Yunnan.The results show that selecting contractual forms of cooperatives is the result of weighing many factors;new organization model or contractual arrangement is complementary to the former system arrangement;the selection of cooperatives model is an important factor impacting cooperation efficiency and stability of organization.One organization model with efficiency not only hinges on the transaction characteristic of organization,but also considers the compatibility with exterior transaction environment.In the process of selecting contractual model,we should conform to objective evolving law,but not be in thrall to a certain given form.

Management Models and Development Strategies of the Farmers’ Professional Cooperatives in the Western Poor Counties and Regions of China: A Case Study of Long’an County,Guangxi

In the new era,an important task is how farmers’professional cooperatives to better adapt to new development environment and effectively solve the problems that"who will cultivate land"and"who does agriculture depend on"in the future.In this paper,model and development direction of farmers’professional cooperatives in Long’an County of Guangxi are analyzed and studied based on realistic development background of Guangxi.

Study on Rural Stock Cooperatives Based on Tangyue Village Model

At present,the issues concerning agriculture,farmers and rural areas are increasingly prominent,and the demand of rural economic reform is increasing. In view of current development situation of rural areas,with reference to successful experience of Tangyue Village Model,this paper analyzed functions of rural stock cooperatives to agricultural development,farmers' income increase,and rural prosperity. Finally,it came up with feasible recommendations for rural reform and the issues concerning agriculture,farmers and rural areas.

A multiple case study on the cooperative governance model of treating environmental deterioration

Managing the acute problem of environmental deterioration due to the industrialization of modern China is necessary.Using three cases from a theoretical perspective of procedure-structure,this study explored how environmental deterioration is governed in three circumstances.Research findings revealed that the pattern to treat the worsening environment is associated closely with individual-specific circumstances,and thus three patterns of governance are developed:bureaucratic,contractual,and network-based cooperatives.The cases and the results are described the advantages and disadvantages of these models are discussed.Suggestions on how to more effectively manage these urgent problems are as follows:first,the governance must fit the circumstance,namely,its physical,biological,and social attributes;second,the regulations and conditions regarding the government-dominated pattern are came up from the perspective of mega-governance,mutual trust contracts,benefit sharing,and social capital;and third,the government should abandon the pattern based on the single subject and adopt a plural subject governance model to integrate all the relevant forces to facilitate the attainment of benign environmental governance.

A Stable and Consistent Document Model Suitable for Asynchronous Cooperative Edition

Complex structured documents can be intentionally represented as a tree structure decorated with attributes. Ignoring attributes (these are related to semantic aspects that can be treated separately from purely structural aspects which interest us here), in the context of a cooperative edition, legal structures are characterized by a document model (an abstract grammar) and each intentional representation can be manipulated independently and eventually asynchronously by several co-authors through various editing tools that operate on its “partial replicas”. For unsynchronized edition of a partial replica, considered co-author must have a syntactic document local model that constraints him to ensure minimum consistency of local representation that handles with respect to the global model. This consistency is synonymous with the existence of one or more (global) intentional representations towards the global model, assuming the current local representation as her/their partial replica. The purpose of this paper is to present the grammatical structures which are grammars that permit not only to specify a (global) model for documents published in a cooperative manner, but also to derive automatically via a so call projection operation, consistent (local) models for each co-authors involved in the cooperative edition. We also show some properties that meet these grammatical structures.

Networked Cooperative Distributed Model Predictive Control Based on State Observer

Although distributed model predictive control has caused significant attention and received many good results, the results are mostly under the assumption that the system states can be observed. However, the states are difficult to be observed in practice. In this paper, a novel distributed model predictive control is proposed based on state observer for a kind of linear discrete-time systems where states are not measured. Firstly, an output feedback control law is designed based on Lyapunov function and state observer. And the stability domain is described. Furthermore, the stability domain as a terminal constraint is added into the constraint conditions of the algorithm to make systems stable outside the stability domain. The simulation results show the effectiveness of the proposed method.

Study on the Cooperative E-commerce Model between Enterprises based on the Value Chain

The real e-commerce between enterprises is based on the internal departments of enterprises and the cooperative interaction between enterprise and its partners. In this paper, on the basis of the theory of value chain, 11 cooperative e-commerce models between enterprises have been classified according to the activities of the cooperation between enterprises, and then every cooperative e-commerce model between enterprises is discussed. In practice, cooperative e-commerce between enterprises can be a combination of one or more e-commerce models between enterprises.

Business Model Analysis of Shunxiang Hazelnut Planting Cooperative Using the Business Model Canvas

Agricultural cooperatives serve as typical entities within the agricultural sector of China and encounter common representative challenges during their growth.This study employs the business model canvas theory to analyze the profit and business models of the Shunxiang Hazelnut Planting Cooperative while clarifying its ongoing developmental hurdles.By addressing pivotal concerns the paper puts forth branding suggestions and outlines future developmental directions.

Construction and Evaluation of the Theoretical Model of Citrus Cooperative Organization

Based on the general overview of cooperative economic organizations of citrus industry at home and abroad,theoretical model of the modernization,industrialization and marketization of Citrus Cooperative Organization is established.After selecting the indices,such as the scale of production,the scale of management,the rate of encouraged farmers,and the market competitiveness,quantitative evaluation index system for modernization,industrialization and marketization is established.Then,Citrus Cooperative Organization is divided into three stages,such as primary stage,intermediate stage and senior stage.After evaluating the modernization,industrialization and marketization of citrus industry in the United States,Spain and South Africa,it is pointed out that the Citrus Cooperative Organization in China at present is at the primary stage.Finally,policy direction of the development of Citrus Cooperative Organization in China is pointed out.

New partial cooperation model for bilevel programming problems

Partial cooperation models are studied for many years to solve the bilevel programming problems where the follower’s optimal reaction is not unique. However, in these existed models, the follower’s cooperation level does not depend on the leader’s decision. A new model is proposed to solve this deficiency. It is proved the feasibility of the new model when the reaction set of the lower level is lower semicontinuous. And the numerical results show that the new model has optimal solutions when the reaction set of the lower level is discrete, lower semi-continuous and non-lower semi-continuous.

A new cooperative approach for ST-elevation myocardial infarction patients to receive timely and effective percutaneous coronary reperfusion in China

Background Acute myocardial infarction （AMI） is the most serious type of coronary heart disease. However, less than 30% of these patients have been treated effectively in China. Delayed treatment is a leading cause. This study aimed to evaluate a new regional cooperative model for improving the first medical contact-to-device time and the therapeutic effects on AMI patients. Methods A retrospective analysis of 458 ST-elevation myocardial infarction （STEMI） patients was performed. Patients were divided into two groups in terms of before or after the model were implemented. First medical contact-to-device time （FMC2D）, Door to device time （D2D）, referral time, cardiac functions, mean cost, days of hospitalization, and major adverse cardiac events （MACE） were analyzed. Results The mean FMC2D time, D2D time and referral time of the model group were significantly lower than the control group. The left ventricular ejection fraction of the model group increased but the left ventricular end-diastolic dimension decreased compared with the control group at 6 months after discharge. These re- sults also showed that mean costs and days of hospitalization were reduced. The MACE rate was reduced in the model group. Conclusions These results suggested that the new model decreased the FMC2D time, which could improve the cardiac function and therapeutic effect of STEMI patients as well as decreased the financial burden.