NDLI: Cooperative distributed predictive control for collision-free vehicle platoons

Content Provider	IET Digital Library
Author	Zheng, Huarong Wu, Jun Wu, Weimin Negenborn, Rudy R.
Abstract	The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and to respond to speed changes in a collision-free, stable and cooperative way. The platoon is modelled as a cascaded network with linear longitudinal vehicle dynamics, independent physical constraints, and coupling safety constraints. In the case of global information sharing, the authors first propose a centralised collision-free solution on the basis of model predictive control that guarantees asymptotic platoon tracking of speed changes and satisfaction of system constraints during the transient process. A cooperative distributed approach is then further proposed on the basis of the alternating direction method of multipliers resulting in a scheme involving communication only with the roadside infrastructure, e.g. the speed manager. Vehicles in a platoon conduct parallel computation while still achieving global optimal performance and coordination with respect to the collision avoidance constraints. Convergence properties of the distributed solutions are established for the concerned vehicle platoon problem. Simulation results show satisfactory platoon performance and demonstrate the effectiveness of the proposed algorithms.
Starting Page	816
Ending Page	824
Page Count	9
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 5, May (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2018.5366
Journal	IET Intelligent Transport Systems
Publisher Date	2018-12-13
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Asymptotic Platoon Tracking Cascaded Network Centralised Collision-free Solution Collision Avoidance Collision Avoidance Constraint Collision-free Vehicle Platoons Concerned Vehicle Platoon Problem Cooperative Way Coupling Safety Constraint Decentralised Control Desired Inter-vehicle Space Distributed Approach Distributed Control Distributed Predictive Control Distributed Solutions Dynamic Speed Management Global Information Sharing Independent Physical Constraint Individual Vehicle Intelligent Vehicle Linear Longitudinal Vehicle Dynamics Model Predictive Control Optimal Control Optimisation Optimisation Technique Platoon Conduct Parallel Computation Predictive Control Rapidly Developing Computing Road Safety Road Traffic Control Road Traffic System Control Road Vehicle Satisfactory Platoon Performance Spatial Variables Control Speed Changes Speed Manager System Constraint Vehicle Vehicle Dynamics
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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