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
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
In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow st...In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow stability.The influences of various factors such as lane change locations,timing,and the current traffic state on stability are discussed.In this analysis,it is assumed that the lane change location and the entry position in the adjacent lane have already been selected,without considering the specific intention behind the lane change.The speeds of the involved vehicles are adjusted based on an existing lane change model,and various conditions are analyzed for traffic flow disturbances,including duration,shock amplitude,and driving delays.Numerical calculations are provided to illustrate these effects.Additionally,traffic flow stability is factored into the lane change decision-making process.By incorporating disturbances to the fleet into the lane change income model,both a lane change intention model and a lane change execution model are constructed.These models are then compared with a model that does not account for stability,leading to the corresponding conclusions.展开更多
In the existing formation model,vehicles in the same lane or adjacent lane are regarded as the structure,and the driving behavior of vehicles is studied from the perspectives of safety,speed consistency,and stability,...In the existing formation model,vehicles in the same lane or adjacent lane are regarded as the structure,and the driving behavior of vehicles is studied from the perspectives of safety,speed consistency,and stability,and the speed control model is proposed from the perspective of vehicles themselves,to obtain a stable fleet with the same distance and speed.However,in this process,the initial condition of the vehicle,the traffic flow environment,and the efficiency of the fleet formation are less considered.Therefore,based on summarizing the existing fleet building model,this paper puts forward the rapid construction model and algorithm of a cooperative adaptive cruise control platoon fleet.One of the important goals of forming a team is to enter the team with the smoothest trajectory in the shortest time.Therefore,this chapter studies the trajectory optimization of the vehicle formation process from the perspective of vehicle dynamics.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
In recent years,the platoon control of connected autonomous vehicles(CAVs)has attracted a lot of attention in intelligent transport research.The third-order nonlinear vehicle dynamics model,due to its practicality,has...In recent years,the platoon control of connected autonomous vehicles(CAVs)has attracted a lot of attention in intelligent transport research.The third-order nonlinear vehicle dynamics model,due to its practicality,has been adopted in many research projects.In platoon control,controller input delays and disturbances are the significant issues that cannot be ignored.To this end,this paper investigates the cooperative control problem of third-order nonlinear CAVs platoon with controller input delays and unknown external disturbances.First,the neural network(NN)is used to approximate external disturbances with unknown bounds.Then,with the help of Pade approximation,a new variable is introduced to deal with the input delays.Subsequently,a corresponding compensation system is constructed based on the introduced variable.At last by using backstepping approach,a distributed adaptive control strategy based on vehicle-to-vehicle(V2V)communication is proposed in this paper.Additionally,Lyapunov functions and the uniformly ultimately bounded stability theorem are used to demonstrate the stability of the closed-loop systems,and the effectiveness of the control strategy is demonstrated by a simulation example.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
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 article studies the distributed cooperative control problem with the heterogeneous model structures and external disturbances for the connected vehicle(CV)platoon.We propose a hierarchical framework to separate i...This article studies the distributed cooperative control problem with the heterogeneous model structures and external disturbances for the connected vehicle(CV)platoon.We propose a hierarchical framework to separate information flow topology from local dynamics control,which aims to deal with the heterogeneous model structures of CV platoon.This hierarchical framework splits the control scheme into two layers,which include an observer in the upper-level layer and an integral sliding mode(ISM)controller in the lower-level layer.Then,the conditions for the asymptotic stability of the CV platoon are derived and the effectiveness of the ISM controller is demonstrated through the Lyapunov method.The research shows that compared with the traditional methods,the hierarchical framework does not need to specify the topology structure as a commonly used topology.Finally,numerical simulation results are performed to test the effectiveness and superiority of the developed controller.展开更多
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 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.
文摘In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow stability.The influences of various factors such as lane change locations,timing,and the current traffic state on stability are discussed.In this analysis,it is assumed that the lane change location and the entry position in the adjacent lane have already been selected,without considering the specific intention behind the lane change.The speeds of the involved vehicles are adjusted based on an existing lane change model,and various conditions are analyzed for traffic flow disturbances,including duration,shock amplitude,and driving delays.Numerical calculations are provided to illustrate these effects.Additionally,traffic flow stability is factored into the lane change decision-making process.By incorporating disturbances to the fleet into the lane change income model,both a lane change intention model and a lane change execution model are constructed.These models are then compared with a model that does not account for stability,leading to the corresponding conclusions.
文摘In the existing formation model,vehicles in the same lane or adjacent lane are regarded as the structure,and the driving behavior of vehicles is studied from the perspectives of safety,speed consistency,and stability,and the speed control model is proposed from the perspective of vehicles themselves,to obtain a stable fleet with the same distance and speed.However,in this process,the initial condition of the vehicle,the traffic flow environment,and the efficiency of the fleet formation are less considered.Therefore,based on summarizing the existing fleet building model,this paper puts forward the rapid construction model and algorithm of a cooperative adaptive cruise control platoon fleet.One of the important goals of forming a team is to enter the team with the smoothest trajectory in the shortest time.Therefore,this chapter studies the trajectory optimization of the vehicle formation process from the perspective of vehicle dynamics.
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 in part by the Key Laboratory of System Control and Information Processing,Ministry of Education,Shanghai,200240,under grant Scip20240109in paert by National Natural Science Foundation of China under Grants 62103352,62033011,and 6227329+1 种基金supported in part by Hebei Natural Science Foundation under Grant F2023203056supported in part by the Project of Hebei Province Graduate Student Innovation Ability Cultivation[Han Miao].
文摘In recent years,the platoon control of connected autonomous vehicles(CAVs)has attracted a lot of attention in intelligent transport research.The third-order nonlinear vehicle dynamics model,due to its practicality,has been adopted in many research projects.In platoon control,controller input delays and disturbances are the significant issues that cannot be ignored.To this end,this paper investigates the cooperative control problem of third-order nonlinear CAVs platoon with controller input delays and unknown external disturbances.First,the neural network(NN)is used to approximate external disturbances with unknown bounds.Then,with the help of Pade approximation,a new variable is introduced to deal with the input delays.Subsequently,a corresponding compensation system is constructed based on the introduced variable.At last by using backstepping approach,a distributed adaptive control strategy based on vehicle-to-vehicle(V2V)communication is proposed in this paper.Additionally,Lyapunov functions and the uniformly ultimately bounded stability theorem are used to demonstrate the stability of the closed-loop systems,and the effectiveness of the control strategy is demonstrated by a simulation example.
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National Natural Science Foundation of China under Grant U1964202 and 62073052.
文摘This article studies the distributed cooperative control problem with the heterogeneous model structures and external disturbances for the connected vehicle(CV)platoon.We propose a hierarchical framework to separate information flow topology from local dynamics control,which aims to deal with the heterogeneous model structures of CV platoon.This hierarchical framework splits the control scheme into two layers,which include an observer in the upper-level layer and an integral sliding mode(ISM)controller in the lower-level layer.Then,the conditions for the asymptotic stability of the CV platoon are derived and the effectiveness of the ISM controller is demonstrated through the Lyapunov method.The research shows that compared with the traditional methods,the hierarchical framework does not need to specify the topology structure as a commonly used topology.Finally,numerical simulation results are performed to test the effectiveness and superiority of the developed controller.
