Data-driven dual-loop control for platooning mixed human-driven and automated vehicles

Lan, J. (2023) Data-driven dual-loop control for platooning mixed human-driven and automated vehicles. IET Intelligent Transport Systems, (doi: 10.1049/itr2.12409) (Early Online Publication)

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This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop control strategy for the ego AVs, where the inner loop controller ensures platoon stability and the outer loop controller keeps a safe inter-vehicular spacing under control input limits. The inner loop controller is a constant-gain state feedback controller solved from a semidefinite program using the online collected data of platooning errors. The outer loop is a model predictive control that embeds a data-driven internal model to predict the future platooning error evolution. The proposed design is evaluated on a mixed platoon with a representative aggressive reference velocity profile, the SFTP-US06 drive cycle. The results confirm efficacy of the design and its advantages over the existing single loop data-driven model predictive control in terms of platoon stability and computational cost.

Item Type:Articles
Status:Early Online Publication
Glasgow Author(s) Enlighten ID:Lan, Dr Jianglin
Authors: Lan, J.
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
Journal Name:IET Intelligent Transport Systems
ISSN (Online):1751-9578
Published Online:26 July 2023
Copyright Holders:Copyright © 2023 The Authors
First Published:First published in IET Intelligent Transport Systems 2023
Publisher Policy:Reproduced under a Creative Commons License

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
314249Decarbonising Machine Learning for Safe and Robust Autonomous SystemsJianglin LanLeverhulme Trust (LEVERHUL)ECF-2021-517ENG - Autonomous Systems & Connectivity