Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures

doi:10.1109/JAS.2022.105536

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures
	Manjiang Hu; Lingkun Bu; Yougang Bian; Hongmao Qin; Ning Sun; Dongpu Cao; Zhihua Zhong
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:9 页码:1590-1602
摘要	As one of the typical applications of connected vehicles (CVs), the vehicle platoon control technique has been proven to have the advantages of reducing emissions, improving traffic throughout and driving safety. In this paper, a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures. By separating neighboring information interaction from local dynamics control, the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer, which helps address the heterogeneity in vehicle parameters and structures. Within the proposed framework, an observer is designed for following vehicles to observe the leading vehicle’s states using neighboring communication, while a tracking controller is designed to track the observed leading vehicle using local feedback control. Closed-loop stability in the absence and presence of communication time delay is analyzed, and the observer is further extended to a finite time convergent one to address string stability under general communication topology. Numerical simulation and field experiment verify the effectiveness of the proposed method.
关键词	Communication delay connected vehicle (CV) heterogeneity string stability vehicle platoon
DOI	10.1109/JAS.2022.105536
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49675
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Manjiang Hu,Lingkun Bu,Yougang Bian,et al. Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(9):1590-1602.
APA	Manjiang Hu.,Lingkun Bu.,Yougang Bian.,Hongmao Qin.,Ning Sun.,...&Zhihua Zhong.(2022).Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures.IEEE/CAA Journal of Automatica Sinica,9(9),1590-1602.
MLA	Manjiang Hu,et al."Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures".IEEE/CAA Journal of Automatica Sinica 9.9(2022):1590-1602.

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