Platooning represents one of the key features that connected automated vehicles may possess as it allows multiple automated vehicles to be maneuvered cooperatively with small headways on roads. However, a critical cha...Platooning represents one of the key features that connected automated vehicles may possess as it allows multiple automated vehicles to be maneuvered cooperatively with small headways on roads. However, a critical challenge in accomplishing automated vehicle platoons is to deal with the effects of intermittent and sporadic vehicle-to-vehicle data transmissions caused by limited wireless communication resources. This paper addresses the co-design problem of dynamic event-triggered communication scheduling and cooperative adaptive cruise control for a convoy of automated vehicles with diverse spacing policies. The central aim is to achieve automated vehicle platooning under various gap references with desired platoon stability and spacing performance requirements, while simultaneously improving communication efficiency. Toward this aim, a dynamic event-triggered scheduling mechanism is developed such that the intervehicle data transmissions are scheduled dynamically and efficiently over time. Then, a tractable co-design criterion on the existence of both the admissible event-driven cooperative adaptive cruise control law and the desired scheduling mechanism is derived. Finally, comparative simulation results are presented to substantiate the effectiveness and merits of the obtained results.展开更多
Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise followingcontrol(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following ...Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise followingcontrol(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of vehicles.Firstly,a traditional variable time headway model is improved considering the acceleration of the lead car.Secondly,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating habits.To reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control structure.Thirdly,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)separately.Meanwhile,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different scenes.Finally,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.展开更多
Time headway is an important index used in characterizing dangerous driving behaviors. This research focuses on the decreasing tendency of time headway and investigates its association with crash occurrence. An autore...Time headway is an important index used in characterizing dangerous driving behaviors. This research focuses on the decreasing tendency of time headway and investigates its association with crash occurrence. An autoregressive（AR） time-series model is improved and adopted to describe the dynamic variations of average daily time headway. Based on the model, a simple approach for dangerous driving behavior recognition is proposed with the aim of significantly decreasing headway. The effectivity of the proposed approach is validated by means of empirical data collected from a medium-sized city in northern China. Finally, a practical early-warning strategy focused on both the remaining life and low headway is proposed to remind drivers to pay attention to their driving behaviors and the possible occurrence of crash-related risks.展开更多
基金supported in part by the Australian Research Council Discovery Early Career Researcher Award(DE200101128)。
文摘Platooning represents one of the key features that connected automated vehicles may possess as it allows multiple automated vehicles to be maneuvered cooperatively with small headways on roads. However, a critical challenge in accomplishing automated vehicle platoons is to deal with the effects of intermittent and sporadic vehicle-to-vehicle data transmissions caused by limited wireless communication resources. This paper addresses the co-design problem of dynamic event-triggered communication scheduling and cooperative adaptive cruise control for a convoy of automated vehicles with diverse spacing policies. The central aim is to achieve automated vehicle platooning under various gap references with desired platoon stability and spacing performance requirements, while simultaneously improving communication efficiency. Toward this aim, a dynamic event-triggered scheduling mechanism is developed such that the intervehicle data transmissions are scheduled dynamically and efficiently over time. Then, a tractable co-design criterion on the existence of both the admissible event-driven cooperative adaptive cruise control law and the desired scheduling mechanism is derived. Finally, comparative simulation results are presented to substantiate the effectiveness and merits of the obtained results.
基金the National Natural Science Foundation of China(61473048,61074093,61873321)。
文摘Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise followingcontrol(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of vehicles.Firstly,a traditional variable time headway model is improved considering the acceleration of the lead car.Secondly,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating habits.To reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control structure.Thirdly,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)separately.Meanwhile,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different scenes.Finally,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.
文摘Time headway is an important index used in characterizing dangerous driving behaviors. This research focuses on the decreasing tendency of time headway and investigates its association with crash occurrence. An autoregressive（AR） time-series model is improved and adopted to describe the dynamic variations of average daily time headway. Based on the model, a simple approach for dangerous driving behavior recognition is proposed with the aim of significantly decreasing headway. The effectivity of the proposed approach is validated by means of empirical data collected from a medium-sized city in northern China. Finally, a practical early-warning strategy focused on both the remaining life and low headway is proposed to remind drivers to pay attention to their driving behaviors and the possible occurrence of crash-related risks.
