DocumentCode :
3693591
Title :
Cooperative adaptive cruise control applying stochastic linear model predictive control strategies
Author :
Dominik Moser;Harald Waschl;Harald Kirchsteiger;Roman Schmied;Luigi del Re
Author_Institution :
Institute for Design and Control of Mechatronical Systems at the Johannes Kepler University of Linz, Austria
fYear :
2015
fDate :
7/1/2015 12:00:00 AM
Firstpage :
3383
Lastpage :
3388
Abstract :
In this paper a cooperative adaptive cruise control approach using stochastic, linear model predictive control strategies is presented. The presented approach deals with an urban traffic environment where vehicle to vehicle and vehicle to infrastructure communication systems are available. The goal is the minimization of a vehicle´s fuel consumption in a vehicle-following scenario. This is achieved by minimizing a piecewise linear approximation of the vehicle´s fuel consumption map. By means of a conditional Gaussian model the probability distribution of the upcoming velocity of the preceding vehicle is estimated based on current measurements and upcoming traffic light signals. The predicted distribution function of the predecessor´s velocity is used in two ways for stochastic model predictive control. On the one hand, individual chance constraints are introduced and subsequently reformulated to obtain an equivalent deterministic model predictive control problem. On the other hand, samples are drawn from the prediction model and used for a randomized optimization approach. Finally, the two developed stochastic control strategies are evaluated and compared against a deterministic model predictive control approach by means of a virtual traffic simulation. The evaluation of the controllers show a significant reduction of the fuel consumption compared to the predecessor while increasing safety and driving comfort.
Keywords :
"Vehicles","Fuels","Stochastic processes","Gears","Mathematical model","Predictive control","Predictive models"
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2015 European
Type :
conf
DOI :
10.1109/ECC.2015.7331057
Filename :
7331057
Link To Document :
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