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
Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issu...Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy.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
Nowadays urban traffic congestion becomes a major issue due to the increase in vehicles that lead to more commuting time,accidents,traffic violations,and high fuel consumption.Platooning is a good way to solve traffic...Nowadays urban traffic congestion becomes a major issue due to the increase in vehicles that lead to more commuting time,accidents,traffic violations,and high fuel consumption.Platooning is a good way to solve traffic congestion because it drives with a smaller inter-vehicle distance than human-driving.This paper proposes proactive platooning based on C-V2X(cellular vehicle-to-everything)to relieve congestion.Proactive platooning reduces the inter-vehicle distance and increases the throughput of signalized intersections through integrating the networked control platooning and computation-centralized platooning.Model and simulation experiments of proactive platooning were conducted to verify the impact of inter-vehicle distance on platooning latency,platooning safety,and traffic throughput.Simulation results show that the optimal inter-vehicle distance under proactive platooning is less than half of human-driving at a signalized intersection.展开更多
This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is pr...This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input.Under such a platoon model,the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader,while attaining improved communication efficiency.Toward this aim,a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed.One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status.Then,a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived.Finally,simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.展开更多
Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumpti...Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumption and vehicle emissions.A fundamental issue in CAVs is platooning control that empowers a convoy of CAVs to be cooperatively maneuvered with desired longitudinal spacings and identical velocities on roads.This paper addresses the issue of resilient and safe platooning control of CAVs subject to intermittent denial-of-service(DoS)attacks that disrupt vehicle-to-vehicle communications.First,a heterogeneous and uncertain vehicle longitudinal dynamic model is presented to accommodate a variety of uncertainties,including diverse vehicle masses and engine inertial delays,unknown and nonlinear resistance forces,and a dynamic platoon leader.Then,a resilient and safe distributed longitudinal platooning control law is constructed with an aim to preserve simultaneous individual vehicle stability,attack resilience,platoon safety and scalability.Furthermore,a numerically efficient offline design algorithm for determining the desired platoon control law is developed,under which the platoon resilience against DoS attacks can be maximized but the anticipated stability,safety and scalability requirements remain preserved.Finally,extensive numerical experiments are provided to substantiate the efficacy of the proposed platooning method.展开更多
Among many safety applications enabled by Dedicated Short Range Communication （DSRC）, truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle （V2V） performance...Among many safety applications enabled by Dedicated Short Range Communication （DSRC）, truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle （V2V） performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.展开更多
Autonomous platooning technology is regarded as one of the promising technologies for the future and the research is conducted actively.The autonomous platooning task generally requires highly complex computations so ...Autonomous platooning technology is regarded as one of the promising technologies for the future and the research is conducted actively.The autonomous platooning task generally requires highly complex computations so it is difficult to process only with the vehicle’s processing units.To solve this problem,there are many studies on task offloading technique which transfers complex tasks to their neighboring vehicles or computation nodes.However,the existing task offloading techniques which mainly use learning-based algorithms are difficult to respond to the real-time changing road environment due to their complexity.They are also challenging to process computation tasks within 100 ms which is the time limit for driving safety.In this paper,we propose a novel offloading scheme that can support autonomous platooning tasks being processed within the limit and ensure driving safety.The proposed scheme can handle computation tasks by considering the communication bandwidth,delay,and amount of computation.We also conduct simulations in the highway environment to evaluate the existing scheme and the proposed scheme.The result shows that our proposed scheme improves the utilization of nearby computing nodes,and the offloading tasks can be processed within the time for driving safety.展开更多
The automotive industry invests huge resources to improve fuel consumption of commercial vehicles by improving their aerodynamic efficiency.Recently,numerous studies investigating the effect of platooning on aerodynam...The automotive industry invests huge resources to improve fuel consumption of commercial vehicles by improving their aerodynamic efficiency.Recently,numerous studies investigating the effect of platooning on aerodynamic drag of semi-trucks have been performed by researchers indicating a positive impact.For the present study,a three-dimensional computational study was performed to investigate the effect of varying offset and linear distance during platooning on the total drag of two semi-trucks.The study was conducted on a full-scale model using Reynold’s Averaged Navier-Strokes governing equations for a moving ground simulation using the STAR-CCM+computational package.Furthermore,for turbulence,the standard k-ω SST turbulence model was used for a constant free stream velocity of 70 mph.A baseline study on a full-scale model of a single semi-truck was conducted to compare the results from platooning.Initial findings showed that the inline platooning situation was optimal for drag reduction.However,drag reduction varied with varying offset distances.Drag reduction decreased as the offset distance increased.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
Recently,in the researches on vehicular Internet-of-Things(IoT),platooning have received lots of attentions due to its potential to improve the fuel efficiency and driving experience.Platoon is a group of vehicles tha...Recently,in the researches on vehicular Internet-of-Things(IoT),platooning have received lots of attentions due to its potential to improve the fuel efficiency and driving experience.Platoon is a group of vehicles that act as smart agents,they travel collaboratively by following the leading human-driven vehicle.A vehicle in the platoon utilizes radar and wireless communication to share important information to other vehicles in the same platoon such as speed and acceleration,to realize the safe and efficient driving.The quality of wireless communication is of great importance to manage and maintain the platoons.However,in a scenario that a large number of vehicles exist,communication delay and packet loss caused by channel congestion may endanger the safe intervehicle distance.In this paper,we introduce intervehicle communication with directional antenna into platooning.By extensive simulations,we evaluate the packet delay and inter-vehicle distance in both normal driving and braking scenarios,and verify the usefulness of directional antenna in platooning for vehicular IoT.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
This paper investigates a compound fault observer-based distributed prescribed-time faulttolerant control scheme of two-dimensional(2-D)connected vehicular platooning system(CvPS)subjected to multiple actuator faults ...This paper investigates a compound fault observer-based distributed prescribed-time faulttolerant control scheme of two-dimensional(2-D)connected vehicular platooning system(CvPS)subjected to multiple actuator faults and external disturbances.Firstly,the error dynamics of CvPS are designed to realise the multi-lane vehicle fusion,and vehicular platoon lane changing on the 2-D plane.Specifically,the longitudinal coupled spacing error dynamics are designed to guarantee the string stability performance.Then,to enhance the resilience performance and reduce the impact of the abrupt type,incipient type actuator faults,as well as disturbances,the improved compound fault observers are proposed to obtain the reconstruction of the compound fault information accurately within a prescribed time.Combine with the prescribed time control technology,the distributed fault-tolerant control scheme is designed to achieve the string stability,and the multi-dimensional internal stability,i.e.longitudinal stability,lateral stability and the heading angle tracking stability within a prescribed time.Finally,the comparison results also verify the effectiveness of the proposed scheme.展开更多
Handling ralely happened safety-critical events remains a central challenge in developing reliable,learning-driven automated driving technologies.Existing reinforcement learning(RL)models,especially those trained on n...Handling ralely happened safety-critical events remains a central challenge in developing reliable,learning-driven automated driving technologies.Existing reinforcement learning(RL)models,especially those trained on normal driving data,often lack robustness when encountering uncovered scenarios,such as sudden full braking by the lead vehicle,due to the underrepresentation of these events in training data.This study addresses this gap by introducing a Double Soft Actor-Critic(Double SAC)framework tailored for car-following control in both routine and emergency situations,with distinct reward functions designed for each scenario.A unique stochastic training environment is proposed to incorporate simulated emergency braking scenarios,enhancing model resilience in diverse and challenging conditions.Simulation results demonstrate that the Double SAC algorithm outperforms traditional methods in key metrics such as safety,efficiency,and passenger comfort,especially in emergency braking situations.Additionally,with an increase in CAV penetration rates,the stability of platoon control is greatly improved,traffic oscillations are reduced,and the system exhibits enhanced cooperative control capabilities.展开更多
This paper proposes a model-based control framework for vehicle platooning systems with secondorder nonlinear dynamics operating over switching signed networks,time-varying delays,and deception attacks.The study inclu...This paper proposes a model-based control framework for vehicle platooning systems with secondorder nonlinear dynamics operating over switching signed networks,time-varying delays,and deception attacks.The study includes two configurations:a leaderless structure using Finite-Time Non-Singular Terminal Bipartite Consensus(FNTBC)and Fixed-Time Bipartite Consensus(FXTBC),and a leader—follower structure ensuring structural balance and robustness against deceptive signals.In the leaderless model,a bipartite controller based on impulsive control theory,gauge transformation,and Markovian switching Lyapunov functions ensures mean-square stability and coordination under deception attacks and communication delays.The FNTBC achieves finite-time convergence depending on initial conditions,while the FXTBC guarantees fixed-time convergence independent of them,providing adaptability to different operating states.In the leader—follower case,a discontinuous impulsive control law synchronizes all followers with the leader despite deceptive attacks and switching topologies,maintaining robust coordination through nonlinear corrective mechanisms.To validate the approach,simulations are conducted on systems of five and seventeen vehicles in both leaderless and leader—follower configurations.The results demonstrate that the proposed framework achieves rapid consensus,strong robustness,and high resistance to deception attacks,offering a secure and scalable model-based control solution for modern vehicular communication networks.展开更多
The integration of eco-driving and cooperative adaptive cruise control(CACC)with platoon cooperative control(eco-CACC)has emerged as a pivotal approach for improving vehicle energy efficiency.Nonetheless,the prevailin...The integration of eco-driving and cooperative adaptive cruise control(CACC)with platoon cooperative control(eco-CACC)has emerged as a pivotal approach for improving vehicle energy efficiency.Nonetheless,the prevailing eco-CACC implementations still exhibit limitations in fully harnessing the potential energy savings.This can be attributed to the intricate nature of the problem,characterized by its high nonlinearity and non-convexity,making it challenging for conventional solving methods to find solutions.In this paper,a novel strategy based on a decentralized model predictive control(MPC)framework,called predictive ecological cooperative control(PECC),is proposed for vehicle platoon control on hilly roads,aiming to maximize the overall energy efficiency of the platoon.Unlike most existing literature that focuses on suboptimal coordination under predefined leading vehicle trajectories,this strategy employs an approach based on the combination of a long short-term memory network(LSTM)and genetic algorithm(GA)optimization(GA-LSTM)to predict the future speed of the leading vehicle.Notably,a function named the NotchFilter function(NF(?))is introduced to transform the hard state constraints in the eco-CACC problem,thereby alleviating the burden of problem-solving.Finally,through simulation comparisons between PECC and a strategy based on the common eco-CACC modifications,the effectiveness of PECC in improving platoon energy efficiency is demonstrated.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
Platooning has emerged to be one of the most promising applications for connected and automated vehicles(CAVs).However,there is still limited research on the effect of platooning configurations.This study sets out to ...Platooning has emerged to be one of the most promising applications for connected and automated vehicles(CAVs).However,there is still limited research on the effect of platooning configurations.This study sets out to investigate the effect of CAV platoon configurations at a typical isolated roundabout in a mixed traffic environment.Investigated platoon configurations include maximum platoon size,platoon willingness,and platoon type.Extensive simulation experiments are carried out in simulation of urban mobility(SUMO),considering various traffic conditions,including different penetration rates,traffic flows,and turning percentages.Results show that:(1)increasing the maximum platoon size and platoon willingness generally improves the throughput increment and delay reduction;and(2)heterogeneous platoons outperform homogeneous platoons in all traffic conditions.展开更多
Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccu...Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.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
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supported in part by the National Natural Science Foundation of China (61973219,U21A2019,61873058)the Hainan Province Science and Technology Special Fund (ZDYF2022SHFZ105)。
文摘Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy.
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.
基金supported in part by China Scholarship Council,the National Natural Science Foundation Projects under Grant 61731004 and 61931005Beijing Natural Science foundation under Grant L202018。
文摘Nowadays urban traffic congestion becomes a major issue due to the increase in vehicles that lead to more commuting time,accidents,traffic violations,and high fuel consumption.Platooning is a good way to solve traffic congestion because it drives with a smaller inter-vehicle distance than human-driving.This paper proposes proactive platooning based on C-V2X(cellular vehicle-to-everything)to relieve congestion.Proactive platooning reduces the inter-vehicle distance and increases the throughput of signalized intersections through integrating the networked control platooning and computation-centralized platooning.Model and simulation experiments of proactive platooning were conducted to verify the impact of inter-vehicle distance on platooning latency,platooning safety,and traffic throughput.Simulation results show that the optimal inter-vehicle distance under proactive platooning is less than half of human-driving at a signalized intersection.
基金This work was supported in part by the Australian Research Council Discovery Early Career Researcher Award under Grant DE200101128.
文摘This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication resource.First,a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input.Under such a platoon model,the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader,while attaining improved communication efficiency.Toward this aim,a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed.One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status.Then,a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived.Finally,simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.
基金supported in part by Australian Research Council Discovery Early Career Researcher Award(DE210100273)。
文摘Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumption and vehicle emissions.A fundamental issue in CAVs is platooning control that empowers a convoy of CAVs to be cooperatively maneuvered with desired longitudinal spacings and identical velocities on roads.This paper addresses the issue of resilient and safe platooning control of CAVs subject to intermittent denial-of-service(DoS)attacks that disrupt vehicle-to-vehicle communications.First,a heterogeneous and uncertain vehicle longitudinal dynamic model is presented to accommodate a variety of uncertainties,including diverse vehicle masses and engine inertial delays,unknown and nonlinear resistance forces,and a dynamic platoon leader.Then,a resilient and safe distributed longitudinal platooning control law is constructed with an aim to preserve simultaneous individual vehicle stability,attack resilience,platoon safety and scalability.Furthermore,a numerically efficient offline design algorithm for determining the desired platoon control law is developed,under which the platoon resilience against DoS attacks can be maximized but the anticipated stability,safety and scalability requirements remain preserved.Finally,extensive numerical experiments are provided to substantiate the efficacy of the proposed platooning method.
文摘Among many safety applications enabled by Dedicated Short Range Communication （DSRC）, truck platooning provides many incentives to commercial companies. This paper studies DSRC Vehicle-to-Vehicle （V2V） performance in truck platooning scenarios through real-world experiments. Commercial DSRC equipments and semi-trailer trucks are used in this study. We mount one DSRC antenna on each side of the truck. One set of dynamic tests and a few sets of static tests are conducted to explore DSRC behaviors under different situations. From the test results, we verified some of our speculations. For example, hilly roads can affect delivery ratio and antennas mounted on opposite sides of a truck can suffer from low delivery ratio at curved roads. In addition, we also found that antennas can sometimes suffer from low delivery ratio even when the trucks are on straight roads, possibly due to reflections from the nearby terrain. Fortunately, the delivery ratio can be greatly improved by using the two side antennas alternately.
基金This work was supported in part by the Chung-Ang University Research Scholarship Grants in 2021,and in part by R&D Program for Forest Science Technology(Project No.“2021338B10-2223-CD02)provided by Korea Forest Service(Korea Forestry Promotion Institute).
文摘Autonomous platooning technology is regarded as one of the promising technologies for the future and the research is conducted actively.The autonomous platooning task generally requires highly complex computations so it is difficult to process only with the vehicle’s processing units.To solve this problem,there are many studies on task offloading technique which transfers complex tasks to their neighboring vehicles or computation nodes.However,the existing task offloading techniques which mainly use learning-based algorithms are difficult to respond to the real-time changing road environment due to their complexity.They are also challenging to process computation tasks within 100 ms which is the time limit for driving safety.In this paper,we propose a novel offloading scheme that can support autonomous platooning tasks being processed within the limit and ensure driving safety.The proposed scheme can handle computation tasks by considering the communication bandwidth,delay,and amount of computation.We also conduct simulations in the highway environment to evaluate the existing scheme and the proposed scheme.The result shows that our proposed scheme improves the utilization of nearby computing nodes,and the offloading tasks can be processed within the time for driving safety.
文摘The automotive industry invests huge resources to improve fuel consumption of commercial vehicles by improving their aerodynamic efficiency.Recently,numerous studies investigating the effect of platooning on aerodynamic drag of semi-trucks have been performed by researchers indicating a positive impact.For the present study,a three-dimensional computational study was performed to investigate the effect of varying offset and linear distance during platooning on the total drag of two semi-trucks.The study was conducted on a full-scale model using Reynold’s Averaged Navier-Strokes governing equations for a moving ground simulation using the STAR-CCM+computational package.Furthermore,for turbulence,the standard k-ω SST turbulence model was used for a constant free stream velocity of 70 mph.A baseline study on a full-scale model of a single semi-truck was conducted to compare the results from platooning.Initial findings showed that the inline platooning situation was optimal for drag reduction.However,drag reduction varied with varying offset distances.Drag reduction decreased as the offset distance increased.
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.
基金This research was supported by Grant-in-Aid for Scientific Research(C)(20K11764)the Telecommunications Advancement Foundation and ROIS NII Open Collaborative Research 21FA01.
文摘Recently,in the researches on vehicular Internet-of-Things(IoT),platooning have received lots of attentions due to its potential to improve the fuel efficiency and driving experience.Platoon is a group of vehicles that act as smart agents,they travel collaboratively by following the leading human-driven vehicle.A vehicle in the platoon utilizes radar and wireless communication to share important information to other vehicles in the same platoon such as speed and acceleration,to realize the safe and efficient driving.The quality of wireless communication is of great importance to manage and maintain the platoons.However,in a scenario that a large number of vehicles exist,communication delay and packet loss caused by channel congestion may endanger the safe intervehicle distance.In this paper,we introduce intervehicle communication with directional antenna into platooning.By extensive simulations,we evaluate the packet delay and inter-vehicle distance in both normal driving and braking scenarios,and verify the usefulness of directional antenna in platooning for vehicular IoT.
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 National Natural Science Foundation of China[grant number 62403106]the Postdoctoral Fellowship Program of CPSF[grant number GZC20240221]+2 种基金the Sichuan Science and Technology Program[grant number 2025ZNSFSC1520,2024NSFSC1491]the National Key Research and Development Plan Programs of China[grant number 2022YFE0120700]the Scientific and Technical Supporting Programs of Sichuan Province of China[grant number 2023YFG0200].
文摘This paper investigates a compound fault observer-based distributed prescribed-time faulttolerant control scheme of two-dimensional(2-D)connected vehicular platooning system(CvPS)subjected to multiple actuator faults and external disturbances.Firstly,the error dynamics of CvPS are designed to realise the multi-lane vehicle fusion,and vehicular platoon lane changing on the 2-D plane.Specifically,the longitudinal coupled spacing error dynamics are designed to guarantee the string stability performance.Then,to enhance the resilience performance and reduce the impact of the abrupt type,incipient type actuator faults,as well as disturbances,the improved compound fault observers are proposed to obtain the reconstruction of the compound fault information accurately within a prescribed time.Combine with the prescribed time control technology,the distributed fault-tolerant control scheme is designed to achieve the string stability,and the multi-dimensional internal stability,i.e.longitudinal stability,lateral stability and the heading angle tracking stability within a prescribed time.Finally,the comparison results also verify the effectiveness of the proposed scheme.
基金supported in part by the lconic Specialised Cultivation Project of Yanshan University(Grant No.2022BZZD005)the Hebei Natural Science Foundation Grant No.F2024203083.
文摘Handling ralely happened safety-critical events remains a central challenge in developing reliable,learning-driven automated driving technologies.Existing reinforcement learning(RL)models,especially those trained on normal driving data,often lack robustness when encountering uncovered scenarios,such as sudden full braking by the lead vehicle,due to the underrepresentation of these events in training data.This study addresses this gap by introducing a Double Soft Actor-Critic(Double SAC)framework tailored for car-following control in both routine and emergency situations,with distinct reward functions designed for each scenario.A unique stochastic training environment is proposed to incorporate simulated emergency braking scenarios,enhancing model resilience in diverse and challenging conditions.Simulation results demonstrate that the Double SAC algorithm outperforms traditional methods in key metrics such as safety,efficiency,and passenger comfort,especially in emergency braking situations.Additionally,with an increase in CAV penetration rates,the stability of platoon control is greatly improved,traffic oscillations are reduced,and the system exhibits enhanced cooperative control capabilities.
基金Deanship of Research and Graduate Studies at King Khalid University for funding this work through Large Research Project under grant number RGP.2/103/46”Deanship of Scientific Research at Northern Border University,Arar,Saudi Arabia for funding this research work through project number“NBU-FFR-2025-871-15”funding from Prince Sattam bin Abdulaziz University project number(PSAU/2025/R/1447).
文摘This paper proposes a model-based control framework for vehicle platooning systems with secondorder nonlinear dynamics operating over switching signed networks,time-varying delays,and deception attacks.The study includes two configurations:a leaderless structure using Finite-Time Non-Singular Terminal Bipartite Consensus(FNTBC)and Fixed-Time Bipartite Consensus(FXTBC),and a leader—follower structure ensuring structural balance and robustness against deceptive signals.In the leaderless model,a bipartite controller based on impulsive control theory,gauge transformation,and Markovian switching Lyapunov functions ensures mean-square stability and coordination under deception attacks and communication delays.The FNTBC achieves finite-time convergence depending on initial conditions,while the FXTBC guarantees fixed-time convergence independent of them,providing adaptability to different operating states.In the leader—follower case,a discontinuous impulsive control law synchronizes all followers with the leader despite deceptive attacks and switching topologies,maintaining robust coordination through nonlinear corrective mechanisms.To validate the approach,simulations are conducted on systems of five and seventeen vehicles in both leaderless and leader—follower configurations.The results demonstrate that the proposed framework achieves rapid consensus,strong robustness,and high resistance to deception attacks,offering a secure and scalable model-based control solution for modern vehicular communication networks.
基金Supported by National Natural Science Foundation of China(Grant Nos.52172383,51805081)Jiangsu Provincial Postgraduate Research&Practice Innovation Program(Grant No.KYCX22_0196)。
文摘The integration of eco-driving and cooperative adaptive cruise control(CACC)with platoon cooperative control(eco-CACC)has emerged as a pivotal approach for improving vehicle energy efficiency.Nonetheless,the prevailing eco-CACC implementations still exhibit limitations in fully harnessing the potential energy savings.This can be attributed to the intricate nature of the problem,characterized by its high nonlinearity and non-convexity,making it challenging for conventional solving methods to find solutions.In this paper,a novel strategy based on a decentralized model predictive control(MPC)framework,called predictive ecological cooperative control(PECC),is proposed for vehicle platoon control on hilly roads,aiming to maximize the overall energy efficiency of the platoon.Unlike most existing literature that focuses on suboptimal coordination under predefined leading vehicle trajectories,this strategy employs an approach based on the combination of a long short-term memory network(LSTM)and genetic algorithm(GA)optimization(GA-LSTM)to predict the future speed of the leading vehicle.Notably,a function named the NotchFilter function(NF(?))is introduced to transform the hard state constraints in the eco-CACC problem,thereby alleviating the burden of problem-solving.Finally,through simulation comparisons between PECC and a strategy based on the common eco-CACC modifications,the effectiveness of PECC in improving platoon energy efficiency is demonstrated.
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.
基金supported by Singapore Ministry of Education Academic Research Fund(Tier 1 RG79/21).
文摘Platooning has emerged to be one of the most promising applications for connected and automated vehicles(CAVs).However,there is still limited research on the effect of platooning configurations.This study sets out to investigate the effect of CAV platoon configurations at a typical isolated roundabout in a mixed traffic environment.Investigated platoon configurations include maximum platoon size,platoon willingness,and platoon type.Extensive simulation experiments are carried out in simulation of urban mobility(SUMO),considering various traffic conditions,including different penetration rates,traffic flows,and turning percentages.Results show that:(1)increasing the maximum platoon size and platoon willingness generally improves the throughput increment and delay reduction;and(2)heterogeneous platoons outperform homogeneous platoons in all traffic conditions.
基金supported by the National Key Research and the Development Program of China(2022YFC3803700)the National Natural Science Foundation of China(52202391 and U20A20155).
文摘Obstacle detection and platoon control for mixed traffic flows,comprising human-driven vehicles(HDVs)and connected and autonomous vehicles(CAVs),face challenges from uncertain disturbances,such as sensor faults,inaccurate driver operations,and mismatched model errors.Furthermore,misleading sensing information or malicious attacks in vehicular wireless networks can jeopardize CAVs’perception and platoon safety.In this paper,we develop a two-dimensional robust control method for a mixed platoon,including a single leading CAV and multiple following HDVs that incorpo-rate robust information sensing and platoon control.To effectively detect and locate unknown obstacles ahead of the leading CAV,we propose a cooperative vehicle-infrastructure sensing scheme and integrate it with an adaptive model predictive control scheme for the leading CAV.This sensing scheme fuses information from multiple nodes while suppressing malicious data from attackers to enhance robustness and attack resilience in a distributed and adaptive manner.Additionally,we propose a distributed car-following control scheme with robustness to guarantee the following HDVs,considering uncertain disturbances.We also provide theoretical proof of the string stability under this control framework.Finally,extensive simulations are conducted to validate our approach.The simulation results demonstrate that our method can effectively filter out misleading sensing information from malicious attackers,significantly reduce the mean-square deviation in obstacle sensing,and approach the theoretical error lower bound.Moreover,the proposed control method successfully achieves obstacle avoidance for the mixed platoon while ensuring stability and robustness in the face of external attacks and uncertain disturbances.
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.
