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Dynamic adjustment neural network-based cooperative control for vehicle platoons with state constraints

Wang Ping, Gao Min, Li Junyu, Zhang Anguo

International Journal of Applied Mathematics and Computer Science

2024

Vol. 34, no. 2

211--224

This paper addresses the challenge of managing state constraints in vehicle platoons, including maintaining safe distances and aligning velocities, which are key factors that contribute to performance degradation in platoon control. Traditional platoon control strategies, which rely on a constant time-headway policy, often lead to deteriorated performance and even instability, primarily during dynamic traffic conditions involving vehicle acceleration and deceleration. The underlying issue is the inadequacy of these methods to adapt to variable time-delays and to accurately modulate the spacing and speed among vehicles. To address these challenges, we propose a dynamic adjustment neural network (DANN) based cooperative control scheme. The proposed strategy employs neural networks to continuously learn and adjust to time varying conditions, thus enabling precise control of each vehicle’s state within the platoon. By integrating a DANN into the platoon control system, we ensure that both velocity and inter-vehicular spacing adapt in response to real-time traffic dynamics. The efficacy of our proposed control approach is validated using both Lyapunov stability theory and numeric simulation, which confirms substantial gains in stability and velocity tracking of the vehicle platoon.

Distributed model reference control for synchronization of a vehicle platoon with limited output information and subject to periodical intermittent information

Prayitno Agung, Indrawati Veronica, Nilkhamhang Itthisek

International Journal of Applied Mathematics and Computer Science

2023

Vol. 33, no. 4

537--551

Vehicles involved in platoon formation may experience difficulties in obtaining full-state information that can be exchanged and used for controller synthesis. Therefore, a distributed controller based on a model reference and designed utilizing a cooperative observer is proposed for vehicle platoon synchronization. The proposed controller is composed of three main blocks, namely, the reference model, the cooperative observer and the main controller. The reference model is developed by using a homogeneous vehicle platoon that utilizes cooperative full-state information. The cooperative observer is a state estimator which is constructed based on the cooperative output estimation error. It provides state estimates to be used by the main controller. The main controller is constructed from a nominal control and a synchronization input. The nominal control has the main task of tracking the lead vehicle, while in order to reduce the synchronization error, the synchronization input is added by utilizing the cooperative disagreement error. Stability analysis is focused on the vehicle platoon when it is subjected to completely periodical intermittent information. The condition on the information rate is derived for guaranteeing the synchronization of the platoon. Numerical simulation of a vehicle platoon consisting of one leader and five followers is used to examine the performance of the controller.

Wpływ dokładności pomiarowej czujników pokładowych na zachowanie sterowanego adaptacyjnie konwoju pojazdów

Sybis M., Sroka P., Rodziewicz M., Lenarska K., Langowski A., Wesołowski K.

Przegląd Telekomunikacyjny + Wiadomości Telekomunikacyjne

2017

nr 6

366--371, CD

W artykule zbadano wpływ dokładności pomiarowej czujników pokładowych (odległości, prędkości oraz przyspieszenia) na zachowanie się kolumny pojazdów. Pojazdy w konwoju były sterowane za pomocą adaptacyjnego tempomatu, którego zadaniem jest dostosowanie prędkości pojazdu do panujących na drodze warunków. Pomiary zostały przeprowadzone przy założeniu, że pojazdy komunikują się ze sobą bezprzewodowo zgodnie ze standardem 802.11p. Na podstawie wykonanej analizy badawczej można stwierdzić, że jakość wskazań poszczególnych czujników ma znaczący wpływ na zachowanie się konwoju.

This paper presents the impact of the onboard sensors' (distance, velocity and acceleration) measurement inaccuracies on the platoon performance. Platoon vehicles are controlled with the CACC algorithm that adapts the vehicles’ speed to the surrounding conditions. Simulations are performed with the assumption that the vehicles communicate with the use of IEEE 802.11p standard. The obtained results clearly indicate that the quality of the sensors has a great impact on the platoon performance.