Human-Lead-Platooning Cooperative Adaptive Cruise Control
Yiming Zhang, Zhizhou Wu, Yu Zhang, Zhiying Shang, Ping Wang, Qingquan Zou, Xianhong Zhang, Jia Hu
Abstract
In this study, a Human-Lead-Platoon CACC ((HLP-CACC) controller is proposed for connected and automated vehicles to “include” human drivers in platooning process. The goal is to form a platoon between automated vehicles and human drivers so that turbulence caused by human drivers could be smoothed out by automated vehicles. Unlike the conventional CACC where only longitudinal control is automated, the proposed HLP-CACC regulates both longitudinally and laterally. In other words, the followers in an HLP-CACC platoon are fully autonomous. The controller is formulated utilizing model predictive control (MPC) solved by Chang-Hu’s method. The technology has the following advantages: 1) take advantage of human drivers’ perception to enable conditional full autonomy; 2) accommodate actuator delay in system dynamics to improve actuator control accuracy; 3) automates both longitudinally and laterally; and 4) ensures string stability in partially connected and automated vehicles environment. Both simulation tests and field tests were conducted to verify the effectiveness of the proposed algorithm. Four scenarios, including straight cruising, lane changing, U-turn and circling were tested. Sensitivity analysis was conducted for speed, turning radius, communication delay and oscillation acceleration. The results confirm that the proposed CACC controller is ready for field implementation. The computation time of the proposed optimal control is approximately <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$4~\sim ~8$ </tex-math></inline-formula> milliseconds when running on an NVIDIA Drive PX 2 computer. Under the control of the proposed HLP-CACC, maximum longitudinal error and lateral error are both within 40 cm.