Data-driven optimal cooperative adaptive cruise control of heterogeneous vehicle platoons with unknown dynamics  

作　　者：Xiulan SONG Feng DING Feng XIAO Defeng HE 

机构地区：[1]College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China

出　　处：《Science China(Information Sciences)》2020年第9期105-116,共12页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China(Grant No.61803336);Zhejiang Provincial Natural Science Foundation(Grant No.LR17F030004)。

摘　　要：This paper considers the cooperative adaptive cruise control(CACC)problem of heterogeneous vehicle platoons and proposes a data-driven optimal CACC approach for the heterogeneous platoon with unknown dynamics.To cope with the unknown dynamics of the vehicle CACC platoon system,the adaptive dynamic programming is used to design an online iteration policy for optimal CACC of the platoon.Using the predecessor-following topology,the CACC controllers are computed by employing the desired spacing errors,relative velocities,and accelerations of the vehicles.The stability of the closed-loop CACC system and the iteration algorithm are presented.Furthermore,the string stability of the platoon with the CACC system is established in terms of the acceleration transfer function between adjacent vehicles in frequent domain.Finally,the effectiveness of the proposed method is verified in two complex scenarios of varying speed cruise.

关 键 词：vehicle platoons cooperative adaptive cruise control optimal control data-driven control string stability 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]