V2V-Based Cooperative Control of Heterogeneous CAV Platoons: An Intelligent VO-IDA Approach

Authors

Yunfei Yin, Yuanlong Wei, Zejiao Dong, Mengqi Xue, Sergio Vazquez, Ligang Wu

Abstract

To overcome the heterogeneous dynamics and unreliable communication which adversely effect the stable control for connected and automated vehicle platoons, a new intelligent control approach, named virtual order-degradation interconnection and damping assignment (VO-IDA), is proposed in this article. First, the internal stability of vehicle platoons is ed into a class of tracking control problems for general chained integral systems. By converting the chained integral system into standard closed-loop port-controlled Hamiltonian form, VO-IDA achieves asymptotic tracking through the integration of backstepping order degradation and virtual stabilization control techniques. This conversion effectively eliminates the dependence on preceding vehicular acceleration as well. Second, under heterogeneous dynamics, explicit stable domains of control parameters are provided to ensure the attenuation of string stability for vehicle platoons via Laplace transform. Furthermore, a linear-proportional relationship between heterogeneous and homogeneous dynamics regarding spacing error ratio is uncovered. Leveraging this relationship, a modified multiobjective genetic algorithm is employed to online explore target locations within stable domains, enabling VO-IDA to conduct stable and precise control under heterogeneous dynamics. Comparative experiments verify the superiority of this approach.

Citation

• Journal: IEEE Internet of Things Journal
• Year: 2024
• Volume: 11
• Issue: 22
• Pages: 36257–36271
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/jiot.2024.3467265

BibTeX

@article{Yin_2024,
  title={{V2V-Based Cooperative Control of Heterogeneous CAV Platoons: An Intelligent VO-IDA Approach}},
  volume={11},
  ISSN={2372-2541},
  DOI={10.1109/jiot.2024.3467265},
  number={22},
  journal={IEEE Internet of Things Journal},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Yin, Yunfei and Wei, Yuanlong and Dong, Zejiao and Xue, Mengqi and Vazquez, Sergio and Wu, Ligang},
  year={2024},
  pages={36257--36271}
}

Download the bib file

References

• Lu N, Cheng N, Zhang N, Shen X, Mark JW (2014) Connected Vehicles: Solutions and Challenges. IEEE Internet Things J 1(4):289–299. https://doi.org/10.1109/jiot.2014.232758 – 10.1109/jiot.2014.2327587
• Zhou H, Xu W, Chen J, Wang W (2020) Evolutionary V2X Technologies Toward the Internet of Vehicles: Challenges and Opportunities. Proc IEEE 108(2):308–323. https://doi.org/10.1109/jproc.2019.296193 – 10.1109/jproc.2019.2961937
• Hu M, Bu L, Bian Y, Qin H, Sun N, Cao D, Zhong Z (2022) Hierarchical Cooperative Control of Connected Vehicles: From Heterogeneous Parameters to Heterogeneous Structures. IEEE/CAA J Autom Sinica 9(9):1590–1602. https://doi.org/10.1109/jas.2022.10553 – 10.1109/jas.2022.105536
• Feng S, Zhang Y, Li SE, Cao Z, Liu HX, Li L (2019) String stability for vehicular platoon control: Definitions and analysis methods. Annual Reviews in Control 47:81–97. https://doi.org/10.1016/j.arcontrol.2019.03.00 – 10.1016/j.arcontrol.2019.03.001
• Seiler P, Pant A, Hedrick K (2004) Disturbance Propagation in Vehicle Strings. IEEE Trans Automat Contr 49(10):1835–1841. https://doi.org/10.1109/tac.2004.83558 – 10.1109/tac.2004.835586
• Ioannou PA, Chien CC (1993) Autonomous intelligent cruise control. IEEE Trans Veh Technol 42(4):657–672. https://doi.org/10.1109/25.26074 – 10.1109/25.260745
• Bian Y, Zheng Y, Ren W, Li SE, Wang J, Li K (2019) Reducing time headway for platooning of connected vehicles via V2V communication. Transportation Research Part C: Emerging Technologies 102:87–105. https://doi.org/10.1016/j.trc.2019.03.00 – 10.1016/j.trc.2019.03.002
• Desjardins C, Chaib-draa B (2011) Cooperative Adaptive Cruise Control: A Reinforcement Learning Approach. IEEE Trans Intell Transport Syst 12(4):1248–1260. https://doi.org/10.1109/tits.2011.215714 – 10.1109/tits.2011.2157145
• Fernandes P, Nunes U (2012) Platooning With IVC-Enabled Autonomous Vehicles: Strategies to Mitigate Communication Delays, Improve Safety and Traffic Flow. IEEE Trans Intell Transport Syst 13(1):91–106. https://doi.org/10.1109/tits.2011.217993 – 10.1109/tits.2011.2179936
• Li SE, Gao F, Li K, Wang L-Y, You K, Cao D (2018) Robust Longitudinal Control of Multi-Vehicle Systems—A Distributed H-Infinity Method. IEEE Trans Intell Transport Syst 19(9):2779–2788. https://doi.org/10.1109/tits.2017.276091 – 10.1109/tits.2017.2760910
• Elahi A, Alfi A, Chadli M (2024) Fixed-Time H∞ Consensus Control of Uncertain Vehicular Platooning Systems With Homogeneous Time-Varying Actuator Delay. IEEE Trans Intell Transport Syst 25(9):11716–11725. https://doi.org/10.1109/tits.2024.336116 – 10.1109/tits.2024.3361161
• Zheng Y, Bian Y, Li S, Li SE (2021) Cooperative Control of Heterogeneous Connected Vehicles with Directed Acyclic Interactions. IEEE Intell Transport Syst Mag 13(2):127–141. https://doi.org/10.1109/mits.2018.288965 – 10.1109/mits.2018.2889654
• Liu Y, Xu L, Cai G, Yin G, Yan F (2023) Distributed Robust Platooning Control for Heterogeneous Vehicle Group under Parametric Uncertainty and Hybrid Attacks. IEEE Trans Veh Technol 72(5):5677–5689. https://doi.org/10.1109/tvt.2022.323161 – 10.1109/tvt.2022.3231618
• Gao F, Hu X, Li SE, Li K, Sun Q (2018) Distributed Adaptive Sliding Mode Control of Vehicular Platoon With Uncertain Interaction Topology. IEEE Trans Ind Electron 65(8):6352–6361. https://doi.org/10.1109/tie.2017.278757 – 10.1109/tie.2017.2787574
• Sawant J, Chaskar U, Ginoya D (2021) Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration. IEEE Trans Intell Transport Syst 22(9):5589–5598. https://doi.org/10.1109/tits.2020.298798 – 10.1109/tits.2020.2987984
• Liu D, Besselink B, Baldi S, Yu W, Trentelman HL (2022) An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning. IEEE Control Syst Lett 6:668–673. https://doi.org/10.1109/lcsys.2021.308496 – 10.1109/lcsys.2021.3084960
• Dunbar WB, Caveney DS (2012) Distributed Receding Horizon Control of Vehicle Platoons: Stability and String Stability. IEEE Trans Automat Contr 57(3):620–633. https://doi.org/10.1109/tac.2011.215965 – 10.1109/tac.2011.2159651
• Qiang Z, Dai L, Chen B, Xia Y (2023) Distributed Model Predictive Control for Heterogeneous Vehicle Platoon With Inter-Vehicular Spacing Constraints. IEEE Trans Intell Transport Syst 24(3):3339–3351. https://doi.org/10.1109/tits.2022.322746 – 10.1109/tits.2022.3227465
• Hu M, Li C, Bian Y, Zhang H, Qin Z, Xu B (2022) Fuel Economy-Oriented Vehicle Platoon Control Using Economic Model Predictive Control. IEEE Trans Intell Transport Syst 23(11):20836–20849. https://doi.org/10.1109/tits.2022.318309 – 10.1109/tits.2022.3183090
• Naus GJL, Vugts RPA, Ploeg J, van de Molengraft MJG, Steinbuch M (2010) String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach. IEEE Trans Veh Technol 59(9):4268–4279. https://doi.org/10.1109/tvt.2010.207632 – 10.1109/tvt.2010.2076320
• Ankem MD, Darbha S (2019) Effect of Heterogeneity in Time Headway on Error Propagation in Vehicular Strings. 2019 IEEE Intelligent Transportation Systems Conference (ITSC) 2612–261 – 10.1109/itsc.2019.8917522
• Bian, Distributed motion control of multi-vehicle systems under complex vehicle-communication-road conditions. (2019)
• Zhu Y, Wu J, Su H (2022) V2V-Based Cooperative Control of Uncertain, Disturbed and Constrained Nonlinear CAVs Platoon. IEEE Trans Intell Transport Syst 23(3):1796–1806. https://doi.org/10.1109/tits.2020.302687 – 10.1109/tits.2020.3026877
• Zhao C, Cai L, Cheng P (2021) Stability Analysis of Vehicle Platooning With Limited Communication Range and Random Packet Losses. IEEE Internet Things J 8(1):262–277. https://doi.org/10.1109/jiot.2020.300457 – 10.1109/jiot.2020.3004573
• Tallapragada P, Franceschetti M, Cortes J (2018) Event-Triggered Second-Moment Stabilization of Linear Systems Under Packet Drops. IEEE Trans Automat Contr 63(8):2374–2388. https://doi.org/10.1109/tac.2017.276406 – 10.1109/tac.2017.2764067
• Wang J, Ma F, Yang Y, Nie J, Aksun-Guvenc B, Guvenc L (2022) Adaptive Event-Triggered Platoon Control Under Unreliable Communication Links. IEEE Trans Intell Transport Syst 23(3):1924–1935. https://doi.org/10.1109/tits.2020.303001 – 10.1109/tits.2020.3030016
• Wang J, Luo X, Wang L, Zuo Z, Guan X (2020) Integral Sliding Mode Control Using a Disturbance Observer for Vehicle Platoons. IEEE Trans Ind Electron 67(8):6639–6648. https://doi.org/10.1109/tie.2019.293699 – 10.1109/tie.2019.2936990
• Dalsmo M, van der Schaft A (1998) On Representations and Integrability of Mathematical Structures in Energy-Conserving Physical Systems. SIAM J Control Optim 37(1):54–91. https://doi.org/10.1137/s036301299631203 – 10.1137/s0363012996312039
• Duindam V, Macchelli A, Stramigioli S, Bruyninckx H (2009) Modeling and Control of Complex Physical Systems. Springer Berlin Heidelber – 10.1007/978-3-642-03196-0
• Kim S-K, Kim Y, Ahn CK (2021) Energy-Shaping Speed Controller With Time-Varying Damping Injection for Permanent-Magnet Synchronous Motors. IEEE Trans Circuits Syst II 68(1):381–385. https://doi.org/10.1109/tcsii.2020.299226 – 10.1109/tcsii.2020.2992260
• Ortega R, van der Schaft A, Maschke B, Escobar G (2002) Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38(4):585–596. https://doi.org/10.1016/s0005-1098(01)00278- – 10.1016/s0005-1098(01)00278-3
• Moeini N, Bahrami-Fard M, Shahabadini M, Azimi SM, Iman-Eini H (2023) Passivity-Based Control of Single-Phase Cascaded H-Bridge Grid-Connected Photovoltaic Inverter. IEEE Trans Ind Electron 70(2):1512–1520. https://doi.org/10.1109/tie.2022.316526 – 10.1109/tie.2022.3165266
• Zhang T, Xia J (2019) Interconnection and Damping Assignment Passivity-Based Impedance Control of a Compliant Assistive Robot for Physical Human–Robot Interactions. IEEE Robot Autom Lett 4(2):538–545. https://doi.org/10.1109/lra.2019.289143 – 10.1109/lra.2019.2891434
• Donaire A, Junco S (2009) On the addition of integral action to port-controlled Hamiltonian systems. Automatica 45(8):1910–1916. https://doi.org/10.1016/j.automatica.2009.04.00 – 10.1016/j.automatica.2009.04.006
• Zhang M, Ortega R, Liu Z, Su H (2016) A new family of interconnection and damping assignment passivity-based controllers. Int J Robust Nonlinear Control 27(1):50–65. https://doi.org/10.1002/rnc.355 – 10.1002/rnc.3557
• Soriano-Rangel CA, He W, Mancilla-David F, Ortega R (2021) Voltage Regulation in Buck–Boost Converters Feeding an Unknown Constant Power Load: An Adaptive Passivity-Based Control. IEEE Trans Contr Syst Technol 29(1):395–402. https://doi.org/10.1109/tcst.2019.295953 – 10.1109/tcst.2019.2959535
• Rajamani R, Choi SB, Law BK, Hedrick JK, Prohaska R, Kretz P (1998) Design and Experimental Implementation of Longitudinal Control for a Platoon of Automated Vehicles. Journal of Dynamic Systems, Measurement, and Control 122(3):470–476. https://doi.org/10.1115/1.128668 – 10.1115/1.1286682
• Song, Study on the control of longitudinal platoon based on the communication network. (2009)
• Khalil, Robust and Optimal Control (1996)
• van der Schaft A (2017) L2-Gain and Passivity Techniques in Nonlinear Control. Springer International Publishin – 10.1007/978-3-319-49992-5
• Zegers JC, Semsar-Kazerooni E, Fusco M, Ploeg J (2017) A multi-layer control approach to truck platooning: Platoon cohesion subject to dynamical limitations. 2017 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS – 10.1109/mtits.2017.8005652
• Wijnbergen P, Besselink B (2020) Existence of decentralized controllers for vehicle platoons: On the role of spacing policies and available measurements. Systems & Control Letters 145:104796. https://doi.org/10.1016/j.sysconle.2020.10479 – 10.1016/j.sysconle.2020.104796
• Ploeg J, Shukla DP, van de Wouw N, Nijmeijer H (2014) Controller Synthesis for String Stability of Vehicle Platoons. IEEE Trans Intell Transport Syst 15(2):854–865. https://doi.org/10.1109/tits.2013.229149 – 10.1109/tits.2013.2291493
• Shen, Formula for the roots of a quartic equation. (2023)
• Fan, A new extracting formula and a new distinguishing means on the one variable cubic equation. Nat. Sci. J. Hainan Teach. College (1989)
• Herreros A, Baeyens E, Perán JR (2000) Design of PID Controllers Using Multiobjective Genetic Algorithms. IFAC Proceedings Volumes 33(4):277–282. https://doi.org/10.1016/s1474-6670(17)38257- – 10.1016/s1474-6670(17)38257-5
• Li J, Shang C, Zou M (2007) Parameter optimization of linear quadratic controller based on genetic algorithm. Tinshhua Sci Technol 12(S1):208–211. https://doi.org/10.1016/s1007-0214(07)70111- – 10.1016/s1007-0214(07)70111-6