Connected Cruise Control for a Platoon of Human-operated and Autonomous Vehicles Using Adaptive Dynamic Programming
作者单位：Tandon School of EngineeringNew York University
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
基 金：supported in part by the U.S.National Science Foundation grant ECCS-1501044
关 键 词：Connected vehicles Adaptive dynamic programming(ADP) Delayed feedback
摘 要：Cooperative driving with V2V communication is under extensive investigation,because of its potential to increase the safety,reliability,connectivity,and autonomy of transportation *** paper studies the problem of connected cruise control（CCC） for a platoon of human-driven and autonomous *** data,such as distance and velocity information,are transmitted by vehicle-to-vehicle（V2V） communication between connected *** into account the communication latency and unpredictable behavior in the leading vehicle,we formulate the CCC problem as an adaptive optimal control problem with input delay and disturbance.A novel data-driven control solution is proposed for the vehicle platoon,which guarantees that each vehicle can achieve safe distance and desired common *** adaptive dynamic programming technique with sampled-data system theory,a data-driven adaptive optimal controller is learned from sampled data,without the knowledge of the human or vehicle dynamics of the platooning *** and robustness analyses are provided by means of inputto-state stability *** results confirm the efficacy of our method.