Page 77 - ASME DSCC 2015 Program

Technical Program

Robust Cooperative Adaptive Cruise Control Design for Connected
InVITED SESSIon
2-6-1 fM6 Connected Vehicles Vehicles
Emerson Burkhart B 1:30pm–3:30pm Invited session paper. DSCC2015-9807
Mark Trudgen, Javad Mohammadpour, University of Georgia, Athens, GA,
Session Organizer: Jason Kolodziej, Rochester Institute of Technology United States
Session Organizer: Annalisa Scacchioli, Stevens Institute of Technology
In this paper, we design and validate a robust H_\inf controller for Coopera-
Session Organizer: Mahdi Shahbakhti, Michigan Technological University
tive Adaptive Cruise Control (CACC) in connected vehicles. CACC systems
Session Chair: Javad Mohammadpour, University of Georgia
take advantage of onboard sensors and wireless technology together in
Session Co-Chair: Yu Wang, Seagate Technology
order to achieve smaller inter-vehicle following distances, with the overall
goal of increasing vehicle throughput on busy highways, and hence serving
Accelerated Evaluation of Automated Vehicles in lane Change
as a viable approach to reduce traffic congestion. A group of connected
Scenarios
vehicles equipped with CACC technology must also ensure what is known
Invited session paper. DSCC2015-9718
as string stability. This requirement effectively dictates that disturbances
Ding Zhao, Huei Peng, Henry lam, University of Michigan, Ann Arbor, MI, should be attenuated as they propagate along the platoon of following
United States, Shan Bao, Kazutoshi nobukawa, David leblanc, University vehicles. In order to guarantee string stability and to cope with uncertainties
of Michigan Transportation Research, Ann Arbor, MI, United States,
Christopher S. Pan, Division of Safety Research, NIOSH, CDC, Morgantown, seen in the vehicle model used for a model-based CACC, we propose to
WV, United States design and implement a robust H_\inf controller. Loop shaping design meth-
odology is used in this paper to achieve desired tracking characteristics
It is important to rigorously and comprehensively evaluate the safety of in the presence of competing string stability, robustness and performance
Automated Vehicles (AVs) before their production and deployment. A requirements. We then employ model reduction techniques to reduce the
popular AV evaluation approach is Naturalistic-Field Operational Test order of the controller and finally implement the reduced-order controller on
(N-FOT) which means putting prototype vehicles on public roads. One of a simulation model demonstrating the robust properties of the closed-loop
the main drawbacks of N-FOT is the low exposure to safety-critical system.
scenarios. In this paper, we propose an accelerated evaluation approach
Hierarchical Design for Connected Cruise Control
for automated vehicles. Models for human-controlled vehicles (HVs) were
Invited session paper. DSCC2015-9993
built based on data extracted from field test data. The HV model was then
modified based on rare event simulation technologies, which result in a linjun Zhang, Chaozhe He, Jing Sun, Gabor orosz, University of Michigan,
more frequent/intense interaction between AV and HV. Importance Ann Arbor, MI, United States
sampling theories were used to ensure a fast yet statistically-equivalence In this paper, we propose a hierarchical framework to reduce the design
to naturalistic estimation. An AV model based on a production vehicle was complexity of connected cruise control (CCC), which is used to regulate the
tested in the front HV cutting-in scenarios. Results show that the proposed longitudinal motion of a vehicle by utilizing wireless vehicle-to-vehicle (V2V)
method could accelerate the evaluation process by a factor of 460. communication. A high-level controller is designed to generate desired
fuel efficient control Strategies for connected hybrid electric Vehicles motion of the CCC vehicle based on the motion of multiple vehicles ahead.
in urban Roads A low-level controller is used to regulate the engine torque and select the
Invited session paper. DSCC2015-9800 appropriate gear to enable the vehicle to track the desired motion. To cope
Runing lin, Baisravan HomChaudhuri, Pierluigi Pisu, Clemson University, with external disturbances and uncertain physical parameters, we use an
Greenville, SC, United States adaptive control strategy for the low-level controller. In a case study, we
design a specific CCC algorithm by using the presented hierarchical frame-
This paper presents a fuel efficient control strategy for a group of connected
work. Numerical simulations are used to validate the analytical results and
hybrid electric vehicles (HEVs) in urban road conditions. A hierarchical con-
test the system performance.
trol architecture is proposed in this paper where the higher level controller
is considered to be a part of the transportation infrastructure while the lower Dynamics of Tire Blowout Events and Driver Assist System for
level controllers are considered to be present in every HEV. The higher level Controlling Them
controller uses model predictive control strategy to evaluate the energy Contributed regular paper. DSCC2015-9621
efficient velocity profiles for every vehicle for a given horizon. Each lower Dan T. Horak, Shane K. lack, National Transportation Safety Board,
level controller then tracks its velocity profile (obtained from the higher level Washington, DC, United States
controller) in a fuel efficient fashion using equivalent consumption minimiza-
Dynamics of Tire Blowout Events and Driver Assist System for Controlling
tion strategy (ECMS). In this paper, the vehicles are modeled in Autonomie
Them
software and the simulation results provided in the paper shows the effec-
tiveness of our proposed control architecture.

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