Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors
Abstract
:1. Introduction
2. Cooperative-Behavior-Based CACC State-Space Model with Measurement Errors
2.1. Assumptions
2.2. CACC State-Space System Formulation
2.3. Analysis of Onboard Sensor Measurement Errors
3. CAV Platoon Motion-State Estimation Based on Kalman Filtering
4. Control Strategy and Solving Algorithms
4.1. Formulation of Optimal Control
4.2. Solution Algorithm
5. Simulation Experiment and Analysis
5.1. Experiment Setup
5.2. Experimental Results and Analysis
5.2.1. Control Decisions and Performance of Each CAV in the Platoon
5.2.2. Control Decisions and Performance of the CAV Platoon Stream
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Luo, W.; Li, X.; Hu, J.; Hu, W. Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors. Sensors 2023, 23, 9006. https://doi.org/10.3390/s23219006
Luo W, Li X, Hu J, Hu W. Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors. Sensors. 2023; 23(21):9006. https://doi.org/10.3390/s23219006
Chicago/Turabian StyleLuo, Weiming, Xu Li, Jinchao Hu, and Weiming Hu. 2023. "Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors" Sensors 23, no. 21: 9006. https://doi.org/10.3390/s23219006
APA StyleLuo, W., Li, X., Hu, J., & Hu, W. (2023). Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors. Sensors, 23(21), 9006. https://doi.org/10.3390/s23219006