Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks

Yanan Zhao; Xiaoyang Luo; Yi Zeng; Li Gao; Yu Zhang; Hao Zhang

doi:10.1117/12.2689746

Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks

Yanan Zhao^*
, Xiaoyang Luo
, Yi Zeng
, Li Gao
, Yu Zhang
, Hao Zhang

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology
Xiaomi
Ministry of Transport of the People's Republic of China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The paper focuses on truck platooning control and its stability on highways, which has gained significant attention due to its potential to improve traffic efficiency and reduce energy consumption. A coupled longitudinal and lateral dynamics model for a single truck in a platoon is proposed to analyze truck's kinematics and dynamics relationship under platooning. A control strategy based on distributed model predictive control (DMPC) is developed to compensate for communication delay. A bounded communication delay is synthesized to the proposed method, which employs a constant-spacing control policy to design a cost function for the control objective, by combining with state information to solve a nonlinear optimization problem for local optimal control. Based on one-way communication, the collaborative adaptive cruise control (CACC) platoon system is suitable for intelligent truck platooning on straight highways.

Original language	English
Title of host publication	Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023
Editors	Said Easa, Wei Wei
Publisher	SPIE
ISBN (Electronic)	9781510668331
DOIs	https://doi.org/10.1117/12.2689746
Publication status	Published - 2023
Event	8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023 - Hangzhou, China Duration: 19 May 2023 → 21 May 2023

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	12790
ISSN (Print)	0277-786X
ISSN (Electronic)	1996-756X

Conference

Conference	8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023
Country/Territory	China
City	Hangzhou
Period	19/05/23 → 21/05/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Model Predictive Control
Platooning Controller Design
Trucks Platooning

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10.1117/12.2689746

Cite this

Zhao, Y., Luo, X., Zeng, Y., Gao, L., Zhang, Y., & Zhang, H. (2023). Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks. In S. Easa, & W. Wei (Eds.), Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023 Article 127903K (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 12790). SPIE. https://doi.org/10.1117/12.2689746

Zhao, Yanan ; Luo, Xiaoyang ; Zeng, Yi et al. / Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks. Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023. editor / Said Easa ; Wei Wei. SPIE, 2023. (Proceedings of SPIE - The International Society for Optical Engineering).

@inproceedings{c75eccb0e10a49678a642bd4f95f1a85,

title = "Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks",

abstract = "The paper focuses on truck platooning control and its stability on highways, which has gained significant attention due to its potential to improve traffic efficiency and reduce energy consumption. A coupled longitudinal and lateral dynamics model for a single truck in a platoon is proposed to analyze truck's kinematics and dynamics relationship under platooning. A control strategy based on distributed model predictive control (DMPC) is developed to compensate for communication delay. A bounded communication delay is synthesized to the proposed method, which employs a constant-spacing control policy to design a cost function for the control objective, by combining with state information to solve a nonlinear optimization problem for local optimal control. Based on one-way communication, the collaborative adaptive cruise control (CACC) platoon system is suitable for intelligent truck platooning on straight highways.",

keywords = "Model Predictive Control, Platooning Controller Design, Trucks Platooning",

author = "Yanan Zhao and Xiaoyang Luo and Yi Zeng and Li Gao and Yu Zhang and Hao Zhang",

note = "Publisher Copyright: {\textcopyright} 2023 SPIE.; 8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023 ; Conference date: 19-05-2023 Through 21-05-2023",

year = "2023",

doi = "10.1117/12.2689746",

language = "English",

series = "Proceedings of SPIE - The International Society for Optical Engineering",

publisher = "SPIE",

editor = "Said Easa and Wei Wei",

booktitle = "Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023",

address = "United States",

}

Zhao, Y, Luo, X, Zeng, Y, Gao, L, Zhang, Y & Zhang, H 2023, Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks. in S Easa & W Wei (eds), Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023., 127903K, Proceedings of SPIE - The International Society for Optical Engineering, vol. 12790, SPIE, 8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023, Hangzhou, China, 19/05/23. https://doi.org/10.1117/12.2689746

Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks. / Zhao, Yanan; Luo, Xiaoyang; Zeng, Yi et al.
Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023. ed. / Said Easa; Wei Wei. SPIE, 2023. 127903K (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 12790).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks

AU - Zhao, Yanan

AU - Luo, Xiaoyang

AU - Zeng, Yi

AU - Gao, Li

AU - Zhang, Yu

AU - Zhang, Hao

PY - 2023

Y1 - 2023

N2 - The paper focuses on truck platooning control and its stability on highways, which has gained significant attention due to its potential to improve traffic efficiency and reduce energy consumption. A coupled longitudinal and lateral dynamics model for a single truck in a platoon is proposed to analyze truck's kinematics and dynamics relationship under platooning. A control strategy based on distributed model predictive control (DMPC) is developed to compensate for communication delay. A bounded communication delay is synthesized to the proposed method, which employs a constant-spacing control policy to design a cost function for the control objective, by combining with state information to solve a nonlinear optimization problem for local optimal control. Based on one-way communication, the collaborative adaptive cruise control (CACC) platoon system is suitable for intelligent truck platooning on straight highways.

AB - The paper focuses on truck platooning control and its stability on highways, which has gained significant attention due to its potential to improve traffic efficiency and reduce energy consumption. A coupled longitudinal and lateral dynamics model for a single truck in a platoon is proposed to analyze truck's kinematics and dynamics relationship under platooning. A control strategy based on distributed model predictive control (DMPC) is developed to compensate for communication delay. A bounded communication delay is synthesized to the proposed method, which employs a constant-spacing control policy to design a cost function for the control objective, by combining with state information to solve a nonlinear optimization problem for local optimal control. Based on one-way communication, the collaborative adaptive cruise control (CACC) platoon system is suitable for intelligent truck platooning on straight highways.

KW - Model Predictive Control

KW - Platooning Controller Design

KW - Trucks Platooning

UR - https://www.scopus.com/pages/publications/85172245318

U2 - 10.1117/12.2689746

DO - 10.1117/12.2689746

M3 - Conference contribution

AN - SCOPUS:85172245318

T3 - Proceedings of SPIE - The International Society for Optical Engineering

BT - Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023

A2 - Easa, Said

A2 - Wei, Wei

PB - SPIE

T2 - 8th International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023

Y2 - 19 May 2023 through 21 May 2023

ER -

Zhao Y, Luo X, Zeng Y, Gao L, Zhang Y, Zhang H. Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks. In Easa S, Wei W, editors, Eighth International Conference on Electromechanical Control Technology and Transportation, ICECTT 2023. SPIE. 2023. 127903K. (Proceedings of SPIE - The International Society for Optical Engineering). doi: 10.1117/12.2689746

Delay Compensation Integrated Distributed Model Predictive Platooning Control for Intelligent Trucks

Abstract

Publication series

Conference

UN SDGs

Keywords

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