期刊
TRANSPORTATION SCIENCE
卷 56, 期 2, 页码 381-403出版社
INFORMS
DOI: 10.1287/trsc.2021.1100
关键词
connected and autonomous vehicle; car-following control; distributed algorithm; constrained optimization; control and stability
资金
- NSF Division of Civil, Mechanical and Manufacturing Innovation [1818526, 1901994, 1902006]
- Directorate For Engineering
- Div Of Civil, Mechanical, & Manufact Inn [1902006] Funding Source: National Science Foundation
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1818526, 1901994] Funding Source: National Science Foundation
This paper develops a distributed optimization-based car-following scheme for connected and autonomous vehicle (CAV) platooning centered approach. The fully distributed schemes proposed in this paper do not require centralized data processing or computation. Numerical tests demonstrate the effectiveness of the proposed scheme.
This paper develops distributed optimization-based, platoon-centered connected and autonomous vehicle (CAV) car-following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV platooning. However, most existing distributed schemes for platoon centered CAV control require either centralized data processing or centralized computation in at least one step of their schemes, referred to as partially distributed schemes. In this paper, we develop fully distributed optimization based, platoon centered CAV platooning control under the linear vehicle dynamics via the model predictive control approach with a general prediction horizon. These fully distributed schemes do not require centralized data processing or centralized computation through the entire schemes. To develop these schemes, we propose a new formulation of an objective function and a decomposition method that decomposes a densely coupled central objective function into the sum of multiple locally coupled functions whose coupling satisfies the network topology constraint. We then exploit locally coupled optimization and operator splitting methods to develop fully distributed schemes. Control design and stability analysis is carried out to achieve desired traffic transient performance and asymptotic stability. Numerical tests demonstrate the effectiveness of the proposed fully distributed schemes and CAV platooning control.
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