期刊
CONTROL ENGINEERING PRACTICE
卷 57, 期 -, 页码 84-98出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2016.08.018
关键词
Quadratic programming; Dynamic programming; Model predictive control; Energy management; Vehicle platoon; Cooperative adaptive cruise control
资金
- Swedish Hybrid Vehicle Center (SHC) [SHC T1.16]
- Scania AB
This paper presents a cooperative adaptive cruise controller that controls vehicles along a planned route in a possibly hilly terrain, while keeping safe distances among the vehicles. The controller consists of two predictive layers that may operate with different update frequencies, horizon lengths and model abstractions. The top layer plans kinetic energy in a centralized manner by solving a quadratic program, whereas the bottom layer optimizes gear in a decentralized manner by solving a dynamic program. The efficiency of the proposed controller is shown through several case studies with different horizon lengths and number of vehicles in the platoon. (C) 2016 Elsevier Ltd. All rights reserved.
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