Article
Engineering, Civil
Yongjie Xue, Chuan Ding, Bin Yu, Wensa Wang
Summary: This paper proposes a hierarchical merging control algorithm for on-ramp vehicles under connected traffic environment. The algorithm optimizes merging maneuvers to reduce fuel consumption, travel time, and improve passenger comfort. Numerical simulations demonstrate the effectiveness of the proposed algorithm in different merging scenarios.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Automation & Control Systems
Yang Shi, Zhenbo Wang, Chieh (Ross) Wang, Yunli Shao
Summary: Connected vehicle technologies can solve the challenges faced by drivers when merging onto highways and offer numerous benefits. However, real-time optimal control is still a challenge. To address this, a novel approach is proposed that balances computational efficiency and solution optimality.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Electrical & Electronic
Zhanyi Hu, Jin Huang, Zeyu Yang, Zhihua Zhong
Summary: The study proposes a two-layer merging control framework consisting of centralized sequencing and distributed control, which effectively executes the merging process by determining the merging sequence of vehicles through a Roadside Agent and guiding vehicles using controllers based on Udwadia-Kalaba approach and Lyapunov stability theory. The controller can handle nonlinear vehicle dynamics and uncertainty, providing boundedness and ultimate boundedness for spacing error, demonstrating its superiority over baseline methods in simulations and various traffic scenarios.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2021)
Article
Engineering, Civil
Jieming Chen, Yue Zhou, Edward Chung
Summary: In this paper, a mixed integer nonlinear programming (MINLP) model is proposed and solved to improve the traffic efficiency and safety at freeway on-ramp merging areas. The proposed method optimizes multiple vehicles' trajectories and their merging sequence to cooperatively minimize disruption from ramps. The evaluation results show that the proposed method outperforms benchmark CAV control algorithms and has promising computational efficiency for real-time merging tasks.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Engineering, Civil
Yukun Fang, Haigen Min, Xia Wu, Wuqi Wang, Xiangmo Zhao, Guoqiang Mao
Summary: Improper handling of on-ramp merging can lead to decreased traffic efficiency and increased collision risk. Cooperative control for connected and automated vehicles (CAVs) can mitigate these negative effects and improve safety and traffic efficiency.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Zhibo Gao, Zhizhou Wu, Wei Hao, Keke Long, Young-Ji Byon, Kejun Long
Summary: This paper proposes an optimal trajectory optimization strategy for Connected and Automated Vehicles (CAVs) to cooperatively carry out mainline platooning and on-ramp merging, which achieves improvements in traffic safety and operational efficiencies by considering the lane-changing motivation of merging vehicles and impact of merging on platoons.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Review
Engineering, Civil
Qianwen Li, Zhiwei Chen, Xiaopeng Li
Summary: This study provides an overview of theoretical models and field experiments of CAV platoon merging and splitting operations. A three-step framework is proposed to unify existing representative studies. This study contributes to the literature by providing a framework that categorizes relevant literature and guides the successful development of platoon merging and splitting operations. It offers researchers and practitioners a rich reference for further investigations.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Electrical & Electronic
Chenyang Zhao, Duanfeng Chu, Rukang Wang, Liping Lu
Summary: In this study, a two-stage hybrid cooperative control framework is proposed for the cooperative merging control at highway ramps in intelligent and connected vehicle environment. The framework consists of a centralized controller based on a grouping strategy and a cost function, and a distributed controller using multi-agent consensus method. Simulation results demonstrate the superiority of the proposed method compared to existing ones, and its adaptability and effectiveness under different types of communication time delays.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Engineering, Civil
Na Chen, Bart van Arem, Tom Alkim, Meng Wang
Summary: This paper introduces a hierarchical control approach for CAVs to optimize merging operations at on-ramps. The tactical and operational layer controllers derive control commands by minimizing an objective function, resulting in efficient and safe merging processes on the highway.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Engineering, Electrical & Electronic
Rafael Molina-Masegosa, Sergei S. Avedisov, Miguel Sepulcre, Yashar Z. Farid, Javier Gozalvez, Onur Altintas
Summary: This study proposes V2X message generation rules for maneuver coordination between connected automated vehicles, which efficiently support maneuver coordination and offer a balance between frequent updates of driving intentions and control of V2X communications load. The proposed rules detect potential safety risks and significant modifications of planned trajectories to generate coordination messages.
IEEE VEHICULAR TECHNOLOGY MAGAZINE
(2023)
Article
Transportation Science & Technology
Tianyi Chen, Meng Wang, Siyuan Gong, Yang Zhou, Bin Ran
Summary: This study proposes a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, a virtual rotation approach is designed to reduce the complexity of cooperative CAVs merging control. The controllers actively reduce voids and guarantee the damping of traffic oscillations in the merging control area.
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
(2021)
Article
Engineering, Civil
Shoucai Jing, Fei Hui, Xiangmo Zhao, Jackeline Rios-Torres, Asad J. Khattak
Summary: This paper addresses the problem of coordinating the merging of connected and automated vehicles (CAVs) at merging roadways. A hierarchical and decentralized cooperative coordination framework is developed, with upper-level optimal control algorithm for fuel consumption and passenger comfort optimization, and lower-level controllers for speed tracking and trajectory optimization. Validation through simulations demonstrates the efficiency and potential real-world application of the proposed framework and algorithm.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Chao Wei, Yuanhao He, Hanqing Tian, Yanzhi Lv
Summary: This paper presents a game theoretic merging behavior control system for autonomous vehicles, considering the interaction between the merging vehicle and the following vehicle. By estimating driving style and using model predictive control, the optimal merging trajectory is planned. Simulation and Human-in-the-loop experiment results demonstrate the effectiveness of the approach in on-ramp merging scenarios.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Zine el Abidine Kherroubi, Samir Aknine, Rebiha Bacha
Summary: Highway on-ramp merging is a significant challenge for achieving fully automated driving. Connected Autonomous Vehicles can enhance safety, but issues like the presence of human-driven vehicles and sensor limitations must be addressed for successful implementation.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Zhiyun Deng, Kaidi Yang, Weiming Shen, Yanjun Shi
Summary: This paper proposes a Vehicle-Platoon-Aware Bi-Level Optimization Algorithm for Autonomous Intersection Management (VPA-AIM) to coordinate the merging of Connected and Automated Vehicles at unsignalized intersections. The algorithm aims to balance traffic performance and computational efficiency by incorporating the platoon formation scheme into the upper-level traffic scheduling model and jointly optimizing the passing sequence and timeslots of vehicles with the platoon configuration scheme based on real-time traffic states. A lower-level trajectory planning model is also utilized to generate dynamically-feasible and energy-efficient trajectories, improving space utilization and preventing spillbacks. Numerical experiments demonstrate the superiority of the proposed approach in optimality and stability for real-life applications.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Engineering, Civil
Xianjian Jin, Jiadong Wang, Xiongkui He, Zeyuan Yan, Liwei Xu, Chongfeng Wei, Guodong Yin
Summary: This paper proposes a robust finite frequency H-infinity control strategy for enhancing vibration performance and ride comfort of electric vehicles using in-wheel motor-active suspension system(IWM-ASS). The strategy successfully addresses the challenge of matching human body's sensitivity to the vertical vibration in the frequency range of 4-8 Hz. The proposed controller design guarantees the attenuation of external disturbances within the concerned frequency range while satisfying other system requirements, such as parameter uncertainty, suspension deflection constraint and actuator saturation.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Engineering, Electrical & Electronic
Ying Liu, Liwei Xu, Guoshun Cai, Guodong Yin, Fengjun Yan
Summary: This study proposes a distributed robust control method to address the issues of vehicle parametric uncertainty and hybrid attacks in heterogeneous vehicular platoon systems. The proposed method includes modeling the platoon system, compensating for non-linear dynamics, addressing heterogeneity and variability of vehicle masses, quantifying the effects of false-data injection and message-delay attacks, designing an inner-vehicle H8 distributed robust stable controller, and proposing a string stability criterion. Simulation results demonstrate that the proposed method outperforms regular platoon control methods in achieving desired inter-vehicle spacing tracking and maintaining string stability.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Electrical & Electronic
Fei Ju, Nikolce Murgovski, Weichao Zhuang, Qun Wang, Liangmo Wang
Summary: This paper designs a predictive cruise controller (EC) for electric vehicles to enhance energy efficiency and battery lifetime. Simulation results show that the proposed controller performs suboptimally compared to the globally optimal solution. An enhanced EC is developed for practical scenarios, achieving energy saving and battery life extension compared to the intelligent driving model.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Electrical & Electronic
Yongjun Yan, Jinxiang Wang, Yan Wang, Chuan Hu, Hanwen Huang, Guodong Yin
Summary: This paper proposes a variable driving style factor to describe the preferences of aggressiveness for different passengers and presents a cooperative trajectory planning framework for autonomous vehicles. The framework includes longitudinal speed adjustment and lateral trajectory planning to generate safe and personalized trajectories considering driving style factors. Experimental results demonstrate the feasibility and effectiveness of the proposed framework.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2023)
Article
Engineering, Electrical & Electronic
Jinhao Liang, Jiwei Feng, Zhenwu Fang, Yanbo Lu, Guodong Yin, Xiang Mao, Jian Wu, Fanxun Wang
Summary: This article proposes a dual-model predictive control-based hierarchical framework to realize energy saving and improve handling stability for DDEVs. The upper layer allocates torque vector to provide high efficiency and reduce energy consumption, while the lower layer generates control input to ensure vehicle handling stability. The introduction of soft constraints and a relaxation factor effectively guarantee vehicle stability and reduce energy consumption.
IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION
(2023)
Article
Automation & Control Systems
Yongjun Yan, Lin Peng, Jinxiang Wang, Hui Zhang, Tong Shen, Guodong Yin
Summary: This article proposes a hierarchical real-time motion planning system to solve complex navigation problems in realistic dynamic traffic environments. The system first establishes a longitudinal safety spacing model to describe potential collision risks during lane-changing process, and uses a piecewise linearization method to convert nonlinear constraints into linear constraints. A decision-making strategy is then proposed to determine whether the trajectory should be replanned based on real-time predictions of surrounding environments and select the optimal lane. Next, the quintic B-spline curve method and quadratic programming method are integrated to obtain the optimal lane-changing trajectory, considering safety, comfort, and efficiency factors. The system also uses a terminal position objective function based on artificial potential field to guide the trajectory towards the center of the safety zone. Finally, a model predictive control method based on the kinematics vehicle model is employed to track the planned trajectory. Experimental results from a miniature intelligent vehicle group validate the real-time performance and effectiveness of the proposed motion planning system.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Mechanical
Jian Wang, Haohan Zeng, Qiang Gao, Guodong Yin, Junwei Li, Rongxian Qiu, Fujun Xiao
Summary: This paper aims to study the fatigue life prediction method for the flexible spokes of the non-pneumatic tire (NPT) and investigate the influence of structural parameters on fatigue performance. The proposed structural optimization method is used to obtain the optimal model parameters by considering fatigue performance, bearing capacity, and weight simultaneously. The results show that the optimized structure significantly improves the fatigue life and bearing capacity of the tire while reducing the total mass.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2023)
Article
Automation & Control Systems
Jinhao Liang, Yanbo Lu, Jiwei Feng, Guodong Yin, Weichao Zhuang, Jian Wu, Liwei Xu, Faan Wang
Summary: A novel driver-automation cooperative shared control system is proposed in this article to better cooperate with aggressive drivers. By introducing a driving activity parameter, the conflicts between aggressive drivers and ADAS can be mitigated. An H8 robust output-feedback control method is presented to provide robustness and stability of the polytope space.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Zhenwu Fang, Jinxiang Wang, Zejiang Wang, Jinhao Liang, Yahui Liu, Guodong Yin
Summary: This paper proposes a human-machine shared control framework considering driver's time-varying characteristics to improve the co-driving cooperation performance. By introducing driving intention and driving ability index, and designing a novel human-machine authority allocation strategy, the driver-vehicle interaction system is constructed. A T-S fuzzy robust state-feedback shared control system is developed to consider time-varying driver behaviors and vehicle states. The results show that the proposed control method has obvious superiority in improving performance of driving comfort, path tracking, and vehicle stability for the co-driving vehicles.
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
(2023)
Article
Engineering, Mechanical
Jinxiang Wang, Dongming Han, Yongjun Yan, Neng Liu, Ning Sun, Guodong Yin
Summary: This paper proposes an ART velocity pre-planning and re-planning strategy based on the combination of punctuality dynamic programming (PDP) and pseudospectral (PS) method. The PDP algorithm with global optimal characteristics is adopted as the pre-planning strategy, and a model for determining the number of collocation points of the real-time PS method is proposed. The enhanced PS method is utilized to design the velocity re-planning strategy. Simulation results show that ART with the proposed velocity trajectory optimization strategy can meet the punctuality requirement and achieve better economy efficiency compared with PGLOSA.
CHINESE JOURNAL OF MECHANICAL ENGINEERING
(2023)
Article
Automation & Control Systems
Jinhao Liang, Jiwei Feng, Yanbo Lu, Guodong Yin, Weichao Zhuang, Xiang Mao
Summary: The direct yaw moment control system of distributed drive electric vehicles uses four independently driven in-wheel motors to enhance vehicle stability. However, vehicle nonlinearities can cause control invalidation. To address this, a T-S fuzzy-based robust H-8 control method is proposed. By using T-S fuzzy modeling technology, the tire nonlinear characteristics are described by fuzzy rules to establish the vehicle lateral dynamics model. A multiobjective optimization function is transformed into a standard robust performance optimization problem with dynamic weight coefficients. A T-S fuzzy-based robust H-8 state feedback controller is designed to ensure system stability and H-8 performance. Hardware-in-the-loop tests validate the effectiveness of the proposed controller in improving vehicle handling performance while ensuring stability.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Tong Shen, Fanxun Wang, Yongjun Yan, Mingzhuo Zhao, Yanjun Ren, Jinhao Liang, Guodong Yin
Summary: This study develops a dynamic and analytical stability region for distributed driving electric vehicles (DDEV), which improves vehicle maneuverability and stability by accurately estimating and dynamically shifting the stability region using the sum of square programming (SOSP) algorithm and Long Short Term Memory (LSTM) neural network.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)