Predictive Cruise Control for Road Vehicles Using Road and Traffic Information

226 Pages·2019·11.289 MB·English

by  Péter Gáspár, Balázs Németh

Advances in Industrial Control
Péter Gáspár
Balázs Németh
Predictive Cruise
Control for Road
Vehicles Using
Road and Traffic
Information
Advances in Industrial Control
Series Editors
Michael J. Grimble, Department of Electronic and Electrical Engineering,
University of Strathclyde, Glasgow, UK
Antonella Ferrara, Department of Electrical, Computer and Biomedical
Engineering, University of Pavia, Pavia, Italy
Advisory Editor
Sebastian Engell, Technische Universität Dortmund, Dortmund, Germany
Editorial Board
Graham C. Goodwin, School of Electrical Engineering and Computer Science,
University of Newcastle, Callaghan, NSW, Australia
Thomas J. Harris, Department of Chemical Engineering, Queen’s University,
Kingston, ON, Canada
Tong Heng Lee, Department of Electrical and Computer Engineering, National
University of Singapore, Singapore, Singapore
OmP.Malik,SchulichSchoolofEngineering,UniversityofCalgary,Calgary,AB,
Canada
GustafOlsson,IndustrialElectricalEngineeringandAutomation,LundInstituteof
Technology, Lund, Sweden
Ikuo Yamamoto, Graduate School of Engineering, University of Nagasaki,
Nagasaki, Japan
Editorial Advisors
Kim-Fung Man, City University Hong Kong, Kowloon, Hong Kong
Asok Ray, Pennsylvania State University, University Park, PA, USA
Advances in Industrial Control is a series of monographs and contributed titles
focusingontheapplicationsofadvancedandnovelcontrolmethodswithinapplied
settings. This series has worldwide distribution to engineers, researchers and
libraries.
The series promotes the exchange of information between academia and
industry, to which end the books all demonstrate some theoretical aspect of an
advanced or new control method and show how it can be applied either in a pilot
plant or in some real industrial situation. The books are distinguished by the
combination of the type of theory used and the type of application exemplified.
Note that “industrial” here has a very broad interpretation; it applies not merely to
the processes employed in industrial plants but to systems such as avionics and
automotivebrakesanddrivetrain.Thisseriescomplementsthetheoreticalandmore
mathematical approach of Communications and Control Engineering.
Indexed by SCOPUS and Engineering Index.
Series Editors
Professor Michael J. Grimble
Department ofElectronic and Electrical Engineering, Royal College Building, 204
George Street, Glasgow G1 1XW, United Kingdom
e-mail: [email protected]
Professor Antonella Ferrara
Department of Electrical, Computer and Biomedical Engineering, University of
Pavia, Via Ferrata 1, 27100 Pavia, Italy
e-mail: [email protected]
or the
In-house Editor
Mr. Oliver Jackson
Springer London, 4 Crinan Street, London, N1 9XW, United Kingdom
e-mail: [email protected]
Publishing Ethics
Researchersshouldconduct theirresearchfrom research proposaltopublicationin
linewithbestpracticesandcodesofconductofrelevantprofessionalbodiesand/or
national and international regulatory bodies. For more details on individual ethics
matters please see:
https://www.springer.com/gp/authors-editors/journal-author/journal-author-help-
desk/publishing-ethics/14214
More information about this series at http://www.springer.com/series/1412
é á á á é
P ter G sp r Bal zs N meth
(cid:129)
Predictive Cruise Control
for Road Vehicles Using
fi
Road and Traf c Information
123
Péter Gáspár BalázsNémeth
MTA SZTAKI MTA SZTAKI
Budapest, Hungary Budapest, Hungary
ISSN 1430-9491 ISSN 2193-1577 (electronic)
Advances in IndustrialControl
ISBN978-3-030-04115-1 ISBN978-3-030-04116-8 (eBook)
https://doi.org/10.1007/978-3-030-04116-8
LibraryofCongressControlNumber:2018960760
©SpringerNatureSwitzerlandAG2019
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar
methodologynowknownorhereafterdeveloped.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom
therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor
for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations.
ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG
Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland
’
Series Editor s Foreword
Controlsystemsengineeringisviewedverydifferentlybyresearchersandthosethat
practice the craft. The former group develops general algorithms with a strong
underlying mathematical basis while for the latter, concerns over the limits of
equipmentandplantdowntimedominate.TheseriesAdvancesinIndustrialControl
attempts to bridge this divide and hopes to encourage the adoption of more
advanced control techniques when warranted.
The rapid development of new control theory and technology has an impact on
all areas of control engineering and applications. There are new control theories,
actuators, sensor systems, computing methods, design philosophies, and of course
new application areas. This provides justification for a specialized monograph
series, and the development of relevant control theory also needs to be stimulated
and driven by the needs and challenges of applications. A focus on applications is
also essential if the different aspects of the control design problem are to be
exploredwiththesamededicationthesynthesisproblemshavereceived.Theseries
provides an opportunity for researchers to present an extended exposition of new
work on industrial control, raising awareness of the substantial benefits that can
accrue, and the challenges that can arise.
The authors are well known for their work on vehicle control systems, driver
assistance systems, and traffic flow. This book is concerned with the design of an
automated longitudinal control system for vehicles to enhance the capabilities of
adaptive cruise control systems. There are two optimization problems where a
balance in performance is required involving the longitudinal control force to be
minimized and the traveling time that must also be minimized. There is clearly a
conflict in the wish to minimize energy whilst reducing journey times so a natural
optimizationproblemarises.Itisassumedthatthevehiclehasinformationaboutthe
environmentandsurroundingvehicleswhichismucheasiertoachievewithrecent
developments insensortechnology forautonomous vehicles. The predictivecruise
control aims to balance the need for energy saving against journey time according
to the needs of the driver. The major sections of the text cover Predictive Cruise
Control, the Analysis of the Traffic Flow, and Control Strategies.
v
vi SeriesEditor’sForeword
Thereisahugeinterest inallaspectsofvehiclecontrolsystemsandtrafficflow
control. This book covers many of the important topics such as traffic and platoon
control,anditdescribesthemainareasofcontrolmethodologies,modeling,design,
simulation, and results. The main focus of the book is to ensure that the velocity
ofthe vehicle iscontrolled sothat the global andlocal information about traveling
andtheenvironmentistakenintoconsideration.Suchworkisclearlyimportantfor
bothsafetyandtheenvironment,anditisthereforeawelcomeadditiontotheseries
on Advances in Industrial Control.
Glasgow, UK Michael J. Grimble
October 2018
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Motivation Background Concerning Autonomous
Vehicle Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Structure of the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Part I Predictive Cruise Control
2 Design of Predictive Cruise Control Using Road Information. . . . . 11
2.1 Speed Design Based on Road Slopes and Weighting
Factors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.1 Speeds at the Section Points Ahead of the Vehicle. . . . 14
2.1.2 Weighting Strategy. . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Optimization of the Vehicle Cruise Control . . . . . . . . . . . . . . . 19
2.2.1 Handling the Optimization Criteria . . . . . . . . . . . . . . . 21
2.2.2 Trade-Off Between the Optimization Criteria . . . . . . . . 22
2.2.3 Handling Traveling Time . . . . . . . . . . . . . . . . . . . . . . 23
2.3 LPV Control Design Method. . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.1 Control-Oriented LPV Modeling . . . . . . . . . . . . . . . . . 25
2.3.2 LPV-Based Control Design. . . . . . . . . . . . . . . . . . . . . 27
2.3.3 Stability Analysis of the Closed-Loop System . . . . . . . 29
2.3.4 Architecture of the Speed Profile Implementation. . . . . 31
2.3.5 Architecture of the Control System . . . . . . . . . . . . . . . 32
2.4 Simulation Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.4.1 Analysis of the Weighting Factors. . . . . . . . . . . . . . . . 34
2.4.2 Impact the Various Parameters on the Adaptive
Cruise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.4.3 Analysis of the Look-Ahead Method
in a Motorway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
vii
viii Contents
2.4.4 Comparison with Dynamic Programming. . . . . . . . . . . 41
2.4.5 Stability Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3 Design of Predictive Cruise Control Using Road and Traffic
Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.1 Handling the Preceding Vehicle in the Speed Design . . . . . . . . 50
3.2 Considering the Motion of the Follower Vehicle
in the Speed Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.2.1 Calculation of Safe Distance. . . . . . . . . . . . . . . . . . . . 51
3.2.2 Optimization for Safe Cruising . . . . . . . . . . . . . . . . . . 54
3.3 Lane Change in the Look-Ahead Control Concept . . . . . . . . . . 55
3.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.4.1 Handling the Preceding Vehicle . . . . . . . . . . . . . . . . . 56
3.4.2 Handling the Follower Vehicle . . . . . . . . . . . . . . . . . . 58
3.4.3 A Complex Simulation Scenario . . . . . . . . . . . . . . . . . 59
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4 Design of Predictive Cruise Control for Safety Critical Vehicle
Interactions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.1 Strategy of Vehicle Control in Intersections . . . . . . . . . . . . . . . 68
4.2 Motion Prediction of Vehicles in the Intersection . . . . . . . . . . . 71
4.2.1 Motion Prediction of Human-Driven Vehicles . . . . . . . 71
4.2.2 Speed Prediction of the Controlled Vehicle . . . . . . . . . 72
4.3 Optimal Speed Profile Design . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.4.1 Interaction of Autonomous Vehicles . . . . . . . . . . . . . . 75
4.4.2 Interaction of Human and Autonomous Vehicles . . . . . 77
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Part II Analysis of the Traffic Flow
5 Relationship Between the Traffic Flow and the Cruise Control
from the Microscopic Point of View . . . . . . . . . . . . . . . . . . . . . . . . 85
5.1 Sensitivity Analysis of the Optimum Solution. . . . . . . . . . . . . . 88
5.1.1 Example of the Sensitivity Analysis . . . . . . . . . . . . . . 92
5.2 Speed Profile Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.3 Demonstration of the Optimization Method . . . . . . . . . . . . . . . 96
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
6 Relationship Between the Traffic Flow and the Cruise Control
from the Macroscopic Point of View. . . . . . . . . . . . . . . . . . . . . . . . 101
6.1 Dynamics of the Traffic with Multi-class Vehicles . . . . . . . . . . 102
6.2 Analysis of the Predictive Cruise Control in the Traffic. . . . . . . 104
Contents ix
6.3 Improvement of Traffic Flow Using the Predictive Control . . . . 108
6.4 Illustration of the Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Part III Control Strategies
7 Control Strategy of the Ramp Metering in the Mixed
Traffic Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.1 Modeling the Effect of Cruise Controlled Vehicles on Traffic
Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.2 Stability Analysis of the Traffic System . . . . . . . . . . . . . . . . . . 125
7.3 Control Strategy of the Ramp Metering and the Cruise
Controlled Vehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8 MPC-Based Coordinated Control Design of the Ramp
Metering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.1 Modeling and Analysis of the Traffic Flow with Cruise
Controlled Vehicles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.2 MPC-Based Coordinated Control Strategy . . . . . . . . . . . . . . . . 137
8.3 Simulation Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
9 Data-Driven Coordination Design of Traffic Control . . . . . . . . . . . 151
9.1 Architecture of the Proposed Traffic Control System. . . . . . . . . 152
9.2 Optimal Coordination Strategy Based on Traffic Flow Data. . . . 154
9.2.1 Fundamentals of the LS Method . . . . . . . . . . . . . . . . . 154
9.2.2 Modeling the Traffic Flow Dynamics. . . . . . . . . . . . . . 156
9.3 Optimal Coordination Strategy Based on Minimax Method. . . . 158
9.4 Simulation Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
10 Cruise Control Design in the Platoon System . . . . . . . . . . . . . . . . . 169
10.1 Design of the Leader Velocity Based on an Optimization
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
10.2 Design of Vehicle Control in the Platoon. . . . . . . . . . . . . . . . . 173
10.2.1 Design of Robust Control. . . . . . . . . . . . . . . . . . . . . . 173
10.2.2 Stability Analysis of the Closed-Loop System . . . . . . . 174
10.3 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179