Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (1): 349-357.doi: 10.13229/j.cnki.jdxbgxb20190949

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Delay-feedback predictive cruise control of autonomous and connected vehicles

De-feng HE(),Jie LUO,Xiao-xiang SHU   

  1. College of Information Engineering，Zhejiang University of Technology，Hangzhou 310023，China
  • Received:2019-10-14 Online:2021-01-01 Published:2021-01-20

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Abstract:

This paper considers the adaptive cruise control problem of vehicles in the vehicular ad hoc network and proposes a delay-feedback predictive cruise control scheme of autonomous and connected vehicles for the case of bounded long time-delay in the information transmission of front vehicles. Firstly， the incremental control and time delay model is used to formulate the adaptive cruise systems of autonomous and connected vehicles. Then the delay-feedback predictive cruise controller is computed by the receding horizon optimization principle in terms of the driving safety， ride comfort and economy performance of the vehicle. Finally， by the Lyapunov’s stability theorem and linear matrix inequality technique， the delay-dependent sufficient conditions are established to guarantee closed-loop stability of the predictive cruise control system of the autonomous and connected vehicle. Comparison with PID control simulation is used to illustrate the effectiveness of the proposed method.

Key words: control science and engineering, autonomous and connected vehicle, predictive cruise control, time-delay, receding horizon control, stability

CLC Number: 

  • TP273

Fig.1

Diagram of front and rear vehicle movement"

Fig.2

Block diagram of connected ACC system"

Table 1

Constraint setting of state and input"

状态量(输入量)约 束
e(k)-50 m≤e(k) ≤2 m
vrel(k)-14 m/s≤vrel(k) ≤14 m/s
vh(k)0≤vh(k) ≤14 m/s
ah(k)-5.5 m/s2≤ah(k) ≤4 m/s2
Δah(k)-5 m/s3≤Δah(k) ≤5 m/s3
u(k)-5.5 m/s2≤u(k) ≤4 m/s2

Fig.3

Simulation diagram of starting scenario"

Fig.4

Simulation diagram of braking scenario"

Fig.5

Simulation diagram of comparison between MPC and PID with different delays"

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