An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

Youssef Abou Harfouch; Shuai Yuan; Simone Baldi

doi:10.1016/j.ifacol.2017.08.225

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

Youssef Abou Harfouch, Shuai Yuan, Simone Baldi

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

115 Downloads (Pure)

Abstract

Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.

Original language	English
Title of host publication	IFAC-PapersOnLine
Subtitle of host publication	Proceedings 20th IFAC World Congress
Editors	Denis Dochain, Didier Henrion, Dimitri Peaucelle
Place of Publication	Laxenburg, Austria
Publisher	Elsevier
Pages	1352-1357
Volume	50-1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.225
Publication status	Published - 2017
Event	20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 Conference number: 20 https://www.ifac2017.org

Publication series

Name	IFAC-PapersOnLine
Number	1
Volume	50

Conference

Conference	20th World Congress of the International Federation of Automatic Control (IFAC), 2017
Abbreviated title	IFAC 2017
Country/Territory	France
City	Toulouse
Period	9/07/17 → 14/07/17
Internet address	https://www.ifac2017.org

Keywords

Cooperative adaptive cruise control
heterogeneous platoon
model reference adaptive control
string stability

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10.1016/j.ifacol.2017.08.225

1-s2.0-S2405896317305372-mainFinal published version, 692 KB

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Abou Harfouch, Y., Yuan, S., & Baldi, S. (2017). An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses. In D. Dochain, D. Henrion, & D. Peaucelle (Eds.), IFAC-PapersOnLine: Proceedings 20th IFAC World Congress (Vol. 50-1, pp. 1352-1357). (IFAC-PapersOnLine; Vol. 50, No. 1). Elsevier. https://doi.org/10.1016/j.ifacol.2017.08.225

Abou Harfouch, Youssef ; Yuan, Shuai ; Baldi, Simone. / An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses. IFAC-PapersOnLine: Proceedings 20th IFAC World Congress. editor / Denis Dochain ; Didier Henrion ; Dimitri Peaucelle. Vol. 50-1 Laxenburg, Austria : Elsevier, 2017. pp. 1352-1357 (IFAC-PapersOnLine; 1).

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title = "An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses",

abstract = "Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.",

keywords = "Cooperative adaptive cruise control, heterogeneous platoon, model reference adaptive control, string stability",

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year = "2017",

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Abou Harfouch, Y, Yuan, S & Baldi, S 2017, An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses. in D Dochain, D Henrion & D Peaucelle (eds), IFAC-PapersOnLine: Proceedings 20th IFAC World Congress. vol. 50-1, IFAC-PapersOnLine, no. 1, vol. 50, Elsevier, Laxenburg, Austria, pp. 1352-1357, 20th World Congress of the International Federation of Automatic Control (IFAC), 2017, Toulouse, France, 9/07/17. https://doi.org/10.1016/j.ifacol.2017.08.225

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses. / Abou Harfouch, Youssef; Yuan, Shuai; Baldi, Simone.
IFAC-PapersOnLine: Proceedings 20th IFAC World Congress. ed. / Denis Dochain; Didier Henrion; Dimitri Peaucelle. Vol. 50-1 Laxenburg, Austria: Elsevier, 2017. p. 1352-1357 (IFAC-PapersOnLine; Vol. 50, No. 1).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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T1 - An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

AU - Abou Harfouch, Youssef

AU - Yuan, Shuai

AU - Baldi, Simone

N1 - Conference code: 20

PY - 2017

Y1 - 2017

N2 - Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.

AB - Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.

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KW - model reference adaptive control

KW - string stability

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M3 - Conference contribution

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VL - 50-1

T3 - IFAC-PapersOnLine

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BT - IFAC-PapersOnLine

A2 - Dochain, Denis

A2 - Henrion, Didier

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PB - Elsevier

CY - Laxenburg, Austria

T2 - 20th World Congress of the International Federation of Automatic Control (IFAC), 2017

Y2 - 9 July 2017 through 14 July 2017

ER -

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

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Keywords

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