The class of bi-directional optimal velocity models can describe the bi-directional looking effect that usually exists in the reality and is even enhanced with the development of the connected vehicle technologies. It...The class of bi-directional optimal velocity models can describe the bi-directional looking effect that usually exists in the reality and is even enhanced with the development of the connected vehicle technologies. Its combined string stability condition can be obtained through the method of the ring-road based string stability analysis. However, the partial string stability about traffic fluctuation propagated backward or forward was neglected, which will be analyzed in detail in this work by the method of transfer function and its H∞ norm from the viewpoint of control theory. Then, through comparing the conditions of combined and partial string stabilities, their relationships can make traffic flow be divided into three distinguishable regions, displaying various combined and partial string stability performance. Finally, the numerical experiments verify the theoretical results and find that the final displaying string stability or instability performance results from the accumulated and offset effects of traffic fluctuations propagated from different directions.展开更多
This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumpti...This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.展开更多
基金Projects(51108465,71371192)supported by the National Natural Science Foundation of ChinaProject(2014M552165)supported by China Postdoctoral Science FoundationProject(20113187851460)supported by Technology Project of the Ministry of Transport of China
文摘The class of bi-directional optimal velocity models can describe the bi-directional looking effect that usually exists in the reality and is even enhanced with the development of the connected vehicle technologies. Its combined string stability condition can be obtained through the method of the ring-road based string stability analysis. However, the partial string stability about traffic fluctuation propagated backward or forward was neglected, which will be analyzed in detail in this work by the method of transfer function and its H∞ norm from the viewpoint of control theory. Then, through comparing the conditions of combined and partial string stabilities, their relationships can make traffic flow be divided into three distinguishable regions, displaying various combined and partial string stability performance. Finally, the numerical experiments verify the theoretical results and find that the final displaying string stability or instability performance results from the accumulated and offset effects of traffic fluctuations propagated from different directions.
基金supported by the National Natural Science Foundation of China(Grant Nos.61273107 and 61573077)Dalian Leading Talent(Grant No.841252)
文摘This paper investigates the problem of fuel-efficient and safe control of autonomous vehicle platoons. We present a two-part hierarchical control method that can guarantee platoon stability with minimal fuel consumption. The first part vehicle controller is derived in the context of receding horizon optimal control by constructing and solving an optimization problem of overall fuel consumption. The Second part platoon controller is a complementation of the first part, which is given on the basis of platoon stability analysis. The effectiveness of the presented platoon control method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.
