In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel ada...In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel adaptive fuzzy sliding coordinated control system is constructed to supervise the longitudinal and lateral motions of autonomous vehicles, in which the fuzzy system is employed to approximate the unknown nonlinear functions. Due to the low sensitivity to disturbances and plant parameter variations, the proposed control approach is an efficient way to handle with the complex dynamic plants operating under un-certainty conditions. The asymptotic stability of adaptive coordinated platoon close-loop control system is verified based on the Lyapunov stability theory. The results indicate that the presented adaptive coordinated platoon control approach can accurately achieve the tracking performance and ensures the stability and riding comfort of autonomous vehicles in a platoon. Finally,simulation test is exploited to demonstrate the effectiveness of the proposed control approach.展开更多
This paper proposes cooperative adaptive control schemes for a train platoon to improve efficient utility and guarantee string stability. The control schemes are developed based on a bidirectional strategy, i.e., the ...This paper proposes cooperative adaptive control schemes for a train platoon to improve efficient utility and guarantee string stability. The control schemes are developed based on a bidirectional strategy, i.e., the information of proximal（preceding and following） trains is used in the controller design. Based on available proximal information（prox-info） of location, speed, and acceleration, a direct adaptive control is designed to maintain the tracking interval at the minimum safe distance. Based on available prox-info of location, an observer-based adaptive control is designed to achieve the same target, which alleviates the requirements of equipped sensors to measure prox-info of speed and acceleration. The developed schemes are capable of on-line estimating of the unknown system parameters and stabilizing the closed-loop system, the string stability of train platoon is guaranteed on the basis of Lyapunov stability theorem. Numerical simulation results are presented to verify the effectiveness of the proposed control laws.展开更多
Based on the four-element model,this paper reviewed the important research progress in vehicle platoon,compared the advantages and disadvantages of different models in each element longitudinally,and summarized the li...Based on the four-element model,this paper reviewed the important research progress in vehicle platoon,compared the advantages and disadvantages of different models in each element longitudinally,and summarized the linkage between each element horizontally.The stability criteria are briefly reviewed from three dimensions:local stability,string stability,and traffic flow stability.The impact of communication delay on vehicle platoon is quantitatively summarized from two aspects:the variation of controller gains and the variation of headway time values.Aiming at the inevitable communication delay in vehicle platoon,the compensation strategies are analyzed from five levels.(1)Optimizing the communication network structure.(2)Reconstructing acceleration information.(3)Tuning controller gains.(4)Constructing a multi-branch selection structure.(5)Improving the controller.The results show that,although these compensation strategies can alleviate the negative impact of communication delay to a certain extent,they also have some defects such as difficulty in adapting to complex and various real road conditions,poor accuracy and real-time performance,insufficient security,and limited application scenarios.It is necessary to further improve the accuracy and real-time performance of the device,design an encrypted and scalable network architecture to ensure communication security and adaptability,and conduct further real vehicle testing.展开更多
This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control fram...This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings.展开更多
This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by...This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.展开更多
The vehicle industry is always in search of breakthrough energy-saving and emission-reduction technologies.In recent years,vehicle intelligence has progressed considerably,and researchers are currently trying to take ...The vehicle industry is always in search of breakthrough energy-saving and emission-reduction technologies.In recent years,vehicle intelligence has progressed considerably,and researchers are currently trying to take advantage of these developments.Here we consider the case of many vehicles forming a queue,i.e.,vehicles traveling at a predetermined speed and distance apart.While the majority of existing studies on this subject have focused on the influence of the longitudinal vehicle spacing,vehicle speed,and the number of vehicles on aerodynamic drag and fuel economy,this study considers the lateral offset distance of the vehicle queue.The group fuel consumption savings rate is calculated and analyzed.As also demonstrated by experimental results,some aerodynamic benefits exist.Moreover,the fuel consumption saving rate of the vehicle queue decreases as the lateral offset distance increases.展开更多
This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracki...This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracking controller is designed for the dynamic leading vehicle. And then, the distributed adaptive controllers are established for followers. Moreover, the predictor technique is used to improve the estimate performance of the adaptive law, and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs) driven by the estimation error. By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD), the “complexity explosion” problem is avoided. The feasibility and effectiveness of the proposed protocol are verified by simulation tests.展开更多
This paper proposes a robust cooperative control strategy for multiple autonomous vehicles to achieve safe and efficient platoon formation,and it analyzes the effects of vehicle stability boundaries and parameter unce...This paper proposes a robust cooperative control strategy for multiple autonomous vehicles to achieve safe and efficient platoon formation,and it analyzes the effects of vehicle stability boundaries and parameter uncertainties.The cooperative vehicle control framework is composed of the upper planning level and lower tracking control level.In the planning level,the trajectory of each vehicle is generated by using the multi-objective flocking algorithm to form the platoon.The parameters of the flocking algorithm are optimized to prevent the vehicle speed and yaw rate from going beyond their limits.In the lower level,to realize the stable platoon formation,a lumped disturbance observer is designed to gain the stable-state reference,and a distributed robust model predictive controller is proposed to achieve the offset-free trajectory tracking while downsizing the effects of parameter uncertainties.The simulation results show the proposed cooperative control strategy can achieve safe and efficient platoon formation.展开更多
Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intellige...Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intelligent transportation systems.Platoon control encounters great challenges from vehicle control,communications,team coordination,and uncertainties.This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control.To achieve suitable coordination of the team vehicles based on terrain and environmental conditions,the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework.Algorithms are introduced and their convergence properties are established.The methodology employs neighborhood information through on-board sensors and V2 V or V2 I communications,but achieves global coordination of the entire platoon.The ability of the methods in terms of robustness,disturbance rejection,noise attenuation,and cyber-physical interaction is analyzed and demonstrated with simulated case studies.展开更多
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...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.展开更多
Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual matu...Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions,thereby permitting large-scale vehicle platoon scheduling and planning,which is essential for industrialized platoon applications and generates significant economic benefits.Scheduling and planning are required in many aspects of vehicle platoon operation;here,we outline the advantages and challenges of a number of the most important applications,including platoon formation scheduling,lane-change planning,passing traffic light scheduling,and vehicle resource allocation.This paper’s primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications.To this end,we first summarize the general techniques of vehicle platoon scheduling and planning,then list the primary scenarios for scheduling and planning technique application,and finally discuss current challenges and future development trends in platoon scheduling and planning.We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.展开更多
In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properl...In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properly developed, especially when stopping for electronic toll collection (ETC) to pay the toll fee using the highway. This study proposes a software architectural platform that enables connected automated vehicles to reserve a grid-based alternative approach to replace current highway toll collection systems. A planned travel route is reserved in advance by a connected automated vehicle in a platoon, and travel is based on reservation information. We use driving information acquired by communication mechanisms installed in connected automated vehicles to develop a dynamic map platform that collects highway toll tax based on reserving spatio-temporal grids. Spatio-temporal sections are developed by dividing space and time into equal grids and assigning a certain road tax rate. The results of the performance evaluation reveal that the proposed method appropriately reserves the specified grids and collects toll taxes accurately based on a spatio-temporal grid with minimal communication time and no data package loss. Likely, using the proposed method to mediate driving on a one-kilometer route takes an average of 36.5 seconds, as compared to ETC and the combination of ETC and freeway road lane methods, which take 46.6 and 53.8 seconds, respectively, for 1000 vehicles. Consequently, our proposed method’s travel time improvements will reduce congestion by more effectively exploiting road capacity as well as enhance the number of platoons while providing non-stoppable travel for autonomous vehicles.展开更多
Vehicles travelling as platoons can reduce the huge traffic jams on the highway. Platoon members can share vehicle information such as speed and acceleration via vehicular ad hoc networks （VANETs） communication to m...Vehicles travelling as platoons can reduce the huge traffic jams on the highway. Platoon members can share vehicle information such as speed and acceleration via vehicular ad hoc networks （VANETs） communication to maintain a constant inter-vehicle and inter-platoon distances. However, connectivity is a fundamental measurement to indicate the linking quality of VANETs. This paper analyzes the access and connectivity probability between the vehicles and the road side units （RSUs） of the multi-way platoon-based VANETs with roadside infrastructure. We denote the connectivity probability as the probability that the vehicles on the highway can access to at least one RSU besides the road within a designated number of hops. Moreover, besides considering the connection on the same road, we study the connection between the vehicles and the RSU via vehicles on the nearby neighbor roads. The analytical results have been validated by simulations and results show that the connectivity probability can be improved when there are platoons in a network. Meanwhile, the connectivity probability is higher in the multi-way vehicle-to-infrastructure （V2I） communication network than that in a one-way V2I communication network. The results in this paper can help to reduce the jams on the highway and achieve intelligent driving. Then the safety and comfort of the drivers and passengers on the highway can be improved. Moreover, these results can provide forceful theoretical support to the future intelligent transportation system （ITS） design.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61304193&U1564208)National Key R&D Program of China(Grant No.2016YFB0100900)
文摘In this paper, the platoon control problem of autonomous vehicles in highway is studied. Since the autonomous vehicles have the characteristics of nonlinearities, external disturbances and strong coupling, a novel adaptive fuzzy sliding coordinated control system is constructed to supervise the longitudinal and lateral motions of autonomous vehicles, in which the fuzzy system is employed to approximate the unknown nonlinear functions. Due to the low sensitivity to disturbances and plant parameter variations, the proposed control approach is an efficient way to handle with the complex dynamic plants operating under un-certainty conditions. The asymptotic stability of adaptive coordinated platoon close-loop control system is verified based on the Lyapunov stability theory. The results indicate that the presented adaptive coordinated platoon control approach can accurately achieve the tracking performance and ensures the stability and riding comfort of autonomous vehicles in a platoon. Finally,simulation test is exploited to demonstrate the effectiveness of the proposed control approach.
基金Project supported by the Beijing Jiaotong University Research Program,China(Grant No.RCS2014ZT18)the Fundamental Research Funds for Central Universities,China(Grant No.2015JBZ007)the National Natural Science Foundation of China(Grant Nos.61233001,61322307,and 61304196)
文摘This paper proposes cooperative adaptive control schemes for a train platoon to improve efficient utility and guarantee string stability. The control schemes are developed based on a bidirectional strategy, i.e., the information of proximal（preceding and following） trains is used in the controller design. Based on available proximal information（prox-info） of location, speed, and acceleration, a direct adaptive control is designed to maintain the tracking interval at the minimum safe distance. Based on available prox-info of location, an observer-based adaptive control is designed to achieve the same target, which alleviates the requirements of equipped sensors to measure prox-info of speed and acceleration. The developed schemes are capable of on-line estimating of the unknown system parameters and stabilizing the closed-loop system, the string stability of train platoon is guaranteed on the basis of Lyapunov stability theorem. Numerical simulation results are presented to verify the effectiveness of the proposed control laws.
基金supported in part by the Fundamental Research Funds for the Central Universities,CHD,under grant 300102243713in part by the National Natural Science Foundation of China under grant 61973045+2 种基金in part by the Natural Science Basic Research Program of Shaanxi Province under grant 2023-JC-JQ-45in part by the Natural Science Basic Research Program of Shaanxi under grant 2023-JC-QN-0667in part by the Fundamental Research Funds for the Central Universities,CHD,under grant 300102242102。
文摘Based on the four-element model,this paper reviewed the important research progress in vehicle platoon,compared the advantages and disadvantages of different models in each element longitudinally,and summarized the linkage between each element horizontally.The stability criteria are briefly reviewed from three dimensions:local stability,string stability,and traffic flow stability.The impact of communication delay on vehicle platoon is quantitatively summarized from two aspects:the variation of controller gains and the variation of headway time values.Aiming at the inevitable communication delay in vehicle platoon,the compensation strategies are analyzed from five levels.(1)Optimizing the communication network structure.(2)Reconstructing acceleration information.(3)Tuning controller gains.(4)Constructing a multi-branch selection structure.(5)Improving the controller.The results show that,although these compensation strategies can alleviate the negative impact of communication delay to a certain extent,they also have some defects such as difficulty in adapting to complex and various real road conditions,poor accuracy and real-time performance,insufficient security,and limited application scenarios.It is necessary to further improve the accuracy and real-time performance of the device,design an encrypted and scalable network architecture to ensure communication security and adaptability,and conduct further real vehicle testing.
基金the financial support from the Natural Sciences and Engineering Research Council of Canada(NSERC)。
文摘This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings.
文摘This study presents a distributed H-infinity control method for uncertain platoons with dimensionally and structurally unknown interaction topologies provided that the associated topological eigenvalues are bounded by a predesigned range. With an inverse model to compensate for nonlinear powertrain dynamics, vehicles in a platoon are modeled by third-order uncertain systems with bounded disturbances. On the basis of the eigenvalue decomposition of topological matrices, we convert the platoon system to a norm-bounded uncertain part and a diagonally structured certain part by applying linear transformation. We then use a common Lyapunov method to design a distributed H-infinity controller. Numerically, two linear matrix inequalities corresponding to the minimum and maximum eigenvalues should be solved. The resulting controller can tolerate interaction topologies with eigenvalues located in a certain range. The proposed method can also ensure robustness performance and disturbance attenuation ability for the closed-loop platoon system. Hardware-in-the-loop tests are performed to validate the effectiveness of our method.
基金This study was financially supported by the National Natural Science Foundation of China(52072156)the Postdoctoral Foundation of China(2020M682269).
文摘The vehicle industry is always in search of breakthrough energy-saving and emission-reduction technologies.In recent years,vehicle intelligence has progressed considerably,and researchers are currently trying to take advantage of these developments.Here we consider the case of many vehicles forming a queue,i.e.,vehicles traveling at a predetermined speed and distance apart.While the majority of existing studies on this subject have focused on the influence of the longitudinal vehicle spacing,vehicle speed,and the number of vehicles on aerodynamic drag and fuel economy,this study considers the lateral offset distance of the vehicle queue.The group fuel consumption savings rate is calculated and analyzed.As also demonstrated by experimental results,some aerodynamic benefits exist.Moreover,the fuel consumption saving rate of the vehicle queue decreases as the lateral offset distance increases.
基金supported by the National Natural Science Foundation of China(Grant Nos.62373208 and 62003097)the Taishan Scholar Program of Shandong Province of China(Grant No.tsqn202306218)the Talent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province。
文摘This paper investigates the distributed adaptive platoon tracking problem of third-order heterogeneous vehicles subject to model uncertainties. The design process is divided into two steps. Firstly, an adaptive tracking controller is designed for the dynamic leading vehicle. And then, the distributed adaptive controllers are established for followers. Moreover, the predictor technique is used to improve the estimate performance of the adaptive law, and the total disturbance is approximated and compensated by the variable gain nonlinear extended state observers(NESOs) driven by the estimation error. By introducing the variable gain hyperbolic tangent tracking differentiator(HTTD), the “complexity explosion” problem is avoided. The feasibility and effectiveness of the proposed protocol are verified by simulation tests.
基金privided by National Natural Science Foundation of China(Grant Nos.51805081,51575103 and U1664258).
文摘This paper proposes a robust cooperative control strategy for multiple autonomous vehicles to achieve safe and efficient platoon formation,and it analyzes the effects of vehicle stability boundaries and parameter uncertainties.The cooperative vehicle control framework is composed of the upper planning level and lower tracking control level.In the planning level,the trajectory of each vehicle is generated by using the multi-objective flocking algorithm to form the platoon.The parameters of the flocking algorithm are optimized to prevent the vehicle speed and yaw rate from going beyond their limits.In the lower level,to realize the stable platoon formation,a lumped disturbance observer is designed to gain the stable-state reference,and a distributed robust model predictive controller is proposed to achieve the offset-free trajectory tracking while downsizing the effects of parameter uncertainties.The simulation results show the proposed cooperative control strategy can achieve safe and efficient platoon formation.
基金supported by the USA National Science Foundation under Grant No.CNS-1136007
文摘Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety,improved highway utility,increased fuel economy,and reduced emission toward intelligent transportation systems.Platoon control encounters great challenges from vehicle control,communications,team coordination,and uncertainties.This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control.To achieve suitable coordination of the team vehicles based on terrain and environmental conditions,the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework.Algorithms are introduced and their convergence properties are established.The methodology employs neighborhood information through on-board sensors and V2 V or V2 I communications,but achieves global coordination of the entire platoon.The ability of the methods in terms of robustness,disturbance rejection,noise attenuation,and cyber-physical interaction is analyzed and demonstrated with simulated case studies.
基金The National High Technology Research and Development Program of China(863 Program)(No.2011AA110405)
文摘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.
基金funded by the Shanghai Municipal Science and Technology Major Project(2018SHZDZX01)of Zhang Jiang Laboratory and Shanghai Center for Brain Science and Brain-Inspired TechnologyShanghai Rising Star Program(21QC1400900)Tongji–Westwell Autonomous Vehicle Joint Lab Project。
文摘Through vehicle-to-vehicle(V2V)communication,autonomizing a vehicle platoon can significantly reduce the distance between vehicles,thereby reducing air resistance and improving road traffic efficiency.The gradual maturation of platoon control technology is enabling vehicle platoons to achieve basic driving functions,thereby permitting large-scale vehicle platoon scheduling and planning,which is essential for industrialized platoon applications and generates significant economic benefits.Scheduling and planning are required in many aspects of vehicle platoon operation;here,we outline the advantages and challenges of a number of the most important applications,including platoon formation scheduling,lane-change planning,passing traffic light scheduling,and vehicle resource allocation.This paper’s primary objective is to integrate current independent platoon scheduling and planning techniques into an integrated architecture to meet the demands of large-scale platoon applications.To this end,we first summarize the general techniques of vehicle platoon scheduling and planning,then list the primary scenarios for scheduling and planning technique application,and finally discuss current challenges and future development trends in platoon scheduling and planning.We hope that this paper can encourage related platoon researchers to conduct more systematic research and integrate multiple platoon scheduling and planning technologies and applications.
文摘In the intelligent transportation system, the autonomous vehicle platoon is a promising concept for addressing traffic congestion problems. However, under certain conditions, the platoon’s advantage cannot be properly developed, especially when stopping for electronic toll collection (ETC) to pay the toll fee using the highway. This study proposes a software architectural platform that enables connected automated vehicles to reserve a grid-based alternative approach to replace current highway toll collection systems. A planned travel route is reserved in advance by a connected automated vehicle in a platoon, and travel is based on reservation information. We use driving information acquired by communication mechanisms installed in connected automated vehicles to develop a dynamic map platform that collects highway toll tax based on reserving spatio-temporal grids. Spatio-temporal sections are developed by dividing space and time into equal grids and assigning a certain road tax rate. The results of the performance evaluation reveal that the proposed method appropriately reserves the specified grids and collects toll taxes accurately based on a spatio-temporal grid with minimal communication time and no data package loss. Likely, using the proposed method to mediate driving on a one-kilometer route takes an average of 36.5 seconds, as compared to ETC and the combination of ETC and freeway road lane methods, which take 46.6 and 53.8 seconds, respectively, for 1000 vehicles. Consequently, our proposed method’s travel time improvements will reduce congestion by more effectively exploiting road capacity as well as enhance the number of platoons while providing non-stoppable travel for autonomous vehicles.
基金supported by the Application and Basic Research Project of Sichuan Province(2012JY0096)Fundamental Research Funds for the Central Universities of Southwest University for Nationalities(2016NZYQN23)
文摘Vehicles travelling as platoons can reduce the huge traffic jams on the highway. Platoon members can share vehicle information such as speed and acceleration via vehicular ad hoc networks （VANETs） communication to maintain a constant inter-vehicle and inter-platoon distances. However, connectivity is a fundamental measurement to indicate the linking quality of VANETs. This paper analyzes the access and connectivity probability between the vehicles and the road side units （RSUs） of the multi-way platoon-based VANETs with roadside infrastructure. We denote the connectivity probability as the probability that the vehicles on the highway can access to at least one RSU besides the road within a designated number of hops. Moreover, besides considering the connection on the same road, we study the connection between the vehicles and the RSU via vehicles on the nearby neighbor roads. The analytical results have been validated by simulations and results show that the connectivity probability can be improved when there are platoons in a network. Meanwhile, the connectivity probability is higher in the multi-way vehicle-to-infrastructure （V2I） communication network than that in a one-way V2I communication network. The results in this paper can help to reduce the jams on the highway and achieve intelligent driving. Then the safety and comfort of the drivers and passengers on the highway can be improved. Moreover, these results can provide forceful theoretical support to the future intelligent transportation system （ITS） design.
