Cooperative adaptive cruise control applying stochastic linear model predictive control strategies

Dominik Moser, Harald Waschl, Harald Kirchsteiger, Roman Schmied, Luigi Del Re

Publikation: Beitrag in Buch/Bericht/TagungsbandKonferenzbeitragBegutachtung

56 Zitate (Scopus)

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.

OriginalspracheEnglisch
Titel2015 European Control Conference, ECC 2015
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten3383-3388
Seitenumfang6
ISBN (elektronisch)9783952426937
DOIs
PublikationsstatusVeröffentlicht - 16 Nov. 2015
Extern publiziertJa
VeranstaltungEuropean Control Conference, ECC 2015 - Linz, Österreich
Dauer: 15 Juli 201517 Juli 2015

Publikationsreihe

Name2015 European Control Conference, ECC 2015

Konferenz

KonferenzEuropean Control Conference, ECC 2015
Land/GebietÖsterreich
OrtLinz
Zeitraum15.07.201517.07.2015

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