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
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2022
Volume9Issue:9Pages:1590-1602
AbstractAs 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.
KeywordCommunication delay connected vehicle (CV) heterogeneity string stability vehicle platoon
DOI10.1109/JAS.2022.105536
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/49675
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
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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