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

Previous Articles    

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

RICH HTML

 3   

PDF (PC)

119

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"

1 李升波. 车辆多目标协调式自适应巡航控制[D]. 北京:清华大学车辆学院, 2009.
Li Sheng-bo. Vehicular multi-objective coordinated adaptive cruise control[D]. Beijing: School of Vehicles, Tsinghua University, 2009.
2 孙煜, 何德峰, 吴赛男, 等. 基于Eclipse平台的车辆自适应巡航控制仿真[J]. 计算机工程与应用, 2017,53(23): 250-255, 266.
Sun Yu, He De-feng, Wu Sai-nan, et al. Simulation of vehicle adaptive cruise control based on Eclipse platform[J]. Computer Engineering and Applications, 2017, 53(23): 250-255, 266.
3 何文韬, 何德峰, 崔靖龙, 等. 网联车辆自适应巡航控制算法验证平台设计[J]. 计算机工程与应用, 2019, 55(14): 235-241.
He Wen-tao, He De-feng, Cui Jing-long, et al. Design of verification platform for adaptive cruise control algorithm of connected vehicles[J]. Computer Engineering and Applications, 2019, 55(14): 235-241.
4 岳伟, 郭戈. 通讯网络影响下自主车队的控制[J]. 控制理论与应用, 2011, 28(7): 1041-1048.
Yue Wei, Guo Ge. Control of autonomous platoon under networked communication effect[J]. Control Theory and Applications, 2011, 28(7): 1041-1048.
5 岳伟, 郭戈, 王丽媛. 通讯网络影响下自主车队分散式控制[J]. 东南大学学报:自然科学版, 2011, 41(): 144-151.
Yue Wei, Guo Ge, Wang Li-yuan. Decentralized control of autonomous platoon under networked communication effect[J]. Journal of Southeast University(Natural Science Edition), 2011, 41(Sup.1): 144-151.
6 张俊, 罗大庸. 网络控制系统的Smith预估时滞补偿方法[J]. 哈尔滨理工大学学报, 2012, 17(5): 34-38.
Zhang Jun, Luo Da-yong. Smith predictive method for time delay of networked control systems[J]. Journal of Harbin University of Science and Technology, 2012, 17(5): 34-38.
7 马永光, 贾君茹, 薄俊青. 网络控制系统Smith预估时滞补偿方法的研究[J]. 工业控制计算机, 2014, 27(10): 41-42, 45.
Ma Yong-guang, Jia Jun-ru, Bo Jun-qing. Smith predictive time-delay compensation methods in network control systems[J]. Industrial Control Computer, 2014, 27(10): 41-42, 45.
8 杨蒙蒙, 钱伟. 基于神经网络预测的网络化控制系统故障检测[J]. 信息与控制, 2018, 47(1): 36-40, 47.
Yang Meng-meng, Qian Wei. Fault detection of networked control systems based on neural network prediction[J]. Information and Control, 2018, 47(1): 36-40, 47.
9 邱占芝, 李世峰. 基于神经网络的PID网络化控制系统建模与仿真[J]. 系统仿真学报, 2018, 30(4): 1423-1432.
Qiu Zhan-zhi, Li Shi-feng. Modeling and simulation of PID networked control systems based on neural network[J]. Journal of System Simulation, 2018, 30(4): 1423-1432.
10 李春茂, 肖建, 张玥. 网络化控制系统两种时延预测算法及其比较[J]. 计算机应用, 2007, 27(2): 257-260, 264.
Li Chun-mao, Xiao Jian, Zhang Yue. Comparison of two predictive algorithms for time delay in networked control systems[J]. Computer Applications, 2007, 27(2): 257-260, 264.
11 李春茂, 肖建, 张玥. 基于LS-SVM的网络化控制系统自适应预测控制[J]. 系统仿真学报, 2007, 19(15): 3494-3498, 3502.
Li Chun-mao, Xiao Jian, Zhang Yue. Approach of adaptive prediction control on networked control systems based on least-squares support vector machines[J]. Journal of System Simulation, 2007, 19(15): 3494-3498, 3502.
12 席裕庚. 预测控制[M]. 北京: 国防科技出版社, 1993.
13 刘国平, 孙键, 赵云波. 网络化预测控制系统的设计、分析与实时实现(英文)[J]. 自动化学报, 2013, 39(11): 1769-1777.
Liu Guo-ping, Sun Jian, Zhao Yun-bo. Design, analysis and real time implementation of networked predictive control systems[J]. Acta Automatica Sinica, 2013, 39(11): 1769-1777.
14 Zhang Tian-yong, Liu Guo-ping. Predictive tracking control of network-based agents with communication delays[J]. IEEE/CAA Journal of Automatica Sinica, 2018, 5(6): 1150-1156.
15 周洲, 何德峰, 俞立. 网络化动态矩阵控制及在倒立摆控制中的应用[J]. 化工自动化及仪表, 2012, 39(8): 1043-1046.
Zhou Zhou, He De-feng, Yu Li. Networked dynamic matrix control and its application to inverted pendulum control[J]. Control and Instruments in Chemical Industry, 2012, 39(8): 1043-1046.
16 谢成祥, 胡维礼. 时延网络控制系统的模型预测控制[J]. 信息与控制, 2008, 37(2): 171-175.
Xie Cheng-xiang, Hu Wei-li. Model predictive control of networked control systems with time-delay[J]. Information and Control, 2008, 37(2): 171-175.
17 胡吉. 基于MPC算法的混合动力汽车自适应巡航控制研究[D]. 重庆: 重庆大学汽车工程学院, 2015.
Hu Ji. The research on adaptive cruise control for a hybrid electric vehicle based on MPC algorithm[D]. Chongqing: College of Automotive Engineering, Chongqing University, 2015.
18 王秋. 基于滚动优化的车辆自适应巡航控制[D]. 长春: 吉林大学通信工程学院, 2017.
Wang Qiu. Vehicle adaptive cruise control based on rolling optimization[D]. Changchun: College of Communication Engineering, Jilin University, 2017.
19 孙小雨. 基于模型预测控制的车辆协同式自适应巡航控制[D]. 哈尔滨: 哈尔滨工业大学航天学院, 2018.
Sun Xiao-yu. Vehicle cooperative adaptive cruise control based on model predictive control[D]. Harbin: School of Astronautics, Harbin Institute of Technology, 2018.
20 He D, He W, Song X, et al. Predictive cruise control of vehicles with pre-planned acceleration/ deceleration command[C]∥The 29th Chinese Control And Decision Conference(CCDC), Chongqing, 2017: 7558-7563.
21 Gao Zhen-hai, Hai Song. Study on the electric vehicle adaptive cruise control based on the model predictive control algorithm[C]∥International Conference on Green Intelligent Transportation Systems, Singapore, 2017: 39-51.
22 罗莉华, 龚李龙, 李平, 等. 考虑驾驶员行驶特性的双模式自适应巡航控制设计[J]. 浙江大学学报:工学版, 2011, 45(12): 2073-2078.
Luo Li-hua, Gong Li-long, Li Ping, et al. Two-mode adaptive cruise control design with humans' driving habits consideration[J]. Journal of Zhejiang University(Engineering Science), 2011, 45(12): 2073-2078.
23 余世明, 吴赛男, 何德峰. 传感器量程和行驶约束车辆队列模型预测控制[J]. 信息与控制, 2018, 47(1): 60-67, 74.
Yu Shi-ming, Wu Sai-nan, He De-feng. Model predictive control of vehicle platoons subject to constraints on limited range of sensors and driving[J]. Information and Control, 2018, 47(1): 60-67, 74.
24 吴志红, 黄思源, 朱元. 汽车自适应巡航控制的间距策略[J]. 科学技术与工程, 2014, 14(15): 295-299, 311.
Wu Zhi-hong, Huang Si-yuan, Zhu Yuan. Distance strategy of adaptive cruise control of vehicle[J]. Science Technology and Engineering, 2014, 14(15): 295-299, 311.
25 Oncu S, Ploeg J, van de Wouw N, et al. Cooperative adaptive cruise control: network-aware analysis of string stability[J]. IEEE Transactions on Intelligent Transportation Systems, 2014, 15(4): 1527-1537.
26 刘安东, 季鹏, 张文安, 等. 具有时延和乱序网络化系统的动态矩阵控制[J]. 系统科学与数学, 2017, 37(7): 1555-1565.
Liu An-dong, Ji Peng, Zhang Wen-an, et al. Dynamic matrix control for networked system with time delay and packet disordering[J]. Journal of Systems Science and Mathematical Sciences, 2017, 37(7): 1555-1565.
27 周洲. 多变量时变时延系统DMC算法及应用研究[D]. 杭州:浙江工业大学信息工程学院, 2012.
Zhou Zhou. Research on dynamic matrix control algorithms and its applications for multivariable time-varying delay systems[D]. Hangzhou: College of Information Engineering, Zhejiang University of Technology, 2012.
28 龚建伟, 姜岩, 徐威. 无人驾驶车辆模型预测控制[M]. 北京: 北京理工大学出版社, 2014.
29 俞立. 鲁棒控制-线性矩阵不等式处理方法[M]. 北京: 清华大学出版社, 2003.
[1] Yun-long ZHANG,Liu-guang ZHOU,Jing WANG,Chun-li WU,Xiang LYU. Effects of freeze-thaw cycles on mechanical properties of silty sand and subgrade slope stability [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1531-1538.
[2] Quan LIANG,Jian-cheng WENG,Wei ZHOU,Jian RONG. Stability identification of public transport commute passengers based on association rules [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1484-1491.
[3] Lun-hua BAI,Rui-li SHEN,Xing-biao ZHANG,Lu WANG. In-plane stability of self-anchored suspension bridge [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1500-1508.
[4] Jia⁃hao QIN,Zhen LI,Muneshi MITSUOKA,Eiji INOUE,Zheng⁃he SONG,Zhong⁃xiang ZHU. Significance variation of factorial effects on tractor stability employing scale⁃model⁃based experimental approach [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1236-1245.
[5] Shu⁃you YU,Lei TAN,Wu⁃yang WANG,Hong CHEN. Control of active four wheel steering vehicle based ontriple⁃step method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 934-942.
[6] JIA Tuo,ZHAO Ding-xuan,CUI Yu-xin. Method of rollover pre-warning for articulated loader [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1762-1769.
[7] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[8] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[9] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[10] ZHAO Wei-qiang, GAO Ke, WANG Wen-bin. Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1305-1312.
[11] QIN Jing, XU He, PEI Yi-qiang, ZUO Zi-nong, LU Li-li. Influence of initial temperature and initial pressure on premixed laminar burning characteristics of methane-dissociated methanol flames [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1475-1482.
[12] GONG Xun, JIANG Bing-jing, HU Yun-feng, QU Ting, CHEN Hong. Design and analysis of nonlinear state observer for master-slave two cell Urea-SCR system of diesel engine [J]. 吉林大学学报(工学版), 2018, 48(4): 1055-1062.
[13] CHEN Dong-hui, LYU Jian-hua, LONG Gang, ZHANG Yu-chen, CHANG Zhi-yong. Static rollover stability of semi-mounted agricultural machinery based on ADAMS [J]. 吉林大学学报(工学版), 2018, 48(4): 1176-1183.
[14] GONG Ya-feng, HE Yu-long, TAN Guo-jin, SHEN Yang-fan. Anti-overturning stability analysis for three-span continuous curved girder bridge with single column pier [J]. 吉林大学学报(工学版), 2018, 48(1): 133-140.
[15] HE Ren, CHEN Shan-shan. Braking stability of tractor-semitrailer based on gear-shifting strategy of hydraulic retarder [J]. 吉林大学学报(工学版), 2017, 47(6): 1677-1687.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd