Cascade Adaptive MPC with Type 2 Fuzzy System for Safety and Energy Management in Autonomous Vehicles: A Sustainable Approach for Future of Transportation

Duong Phan, Ali Moradi Amani, Mirhamed Mola, Ahmad Asgharian Rezaei, Mojgan Fayyazi, Mahdi Jalili, Dinh Ba Pham, Reza Langari and Hamid Khayyam
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Duong Phan: Division of Mechatronics, Mechanical Engineering Institute, Vietnam Maritime University, Haiphong 180000, Vietnam
Ali Moradi Amani: School of Engineering, RMIT University, Melbourne, VIC 3083, Australia
Mirhamed Mola: School of Electrical and Computer Engineering, Shiraz University, Shiraz 71348, Iran
Ahmad Asgharian Rezaei: School of Engineering, RMIT University, Melbourne, VIC 3083, Australia
Mojgan Fayyazi: School of Engineering, RMIT University, Melbourne, VIC 3083, Australia
Mahdi Jalili: School of Engineering, RMIT University, Melbourne, VIC 3083, Australia
Dinh Ba Pham: Division of Mechatronics, Mechanical Engineering Institute, Vietnam Maritime University, Haiphong 180000, Vietnam
Reza Langari: Engineering Technology and Industrial Distribution (ETID), Texas A&M University (TAMU), College Station, TX 77843, USA
Hamid Khayyam: School of Engineering, RMIT University, Melbourne, VIC 3083, Australia

Sustainability, 2021, vol. 13, issue 18, 1-17

Abstract: A sustainable circular economy involves designing and promoting new products with the least environmental impact through increasing efficiency. The emergence of autonomous vehicles (AVs) has been a revolution in the automobile industry and a breakthrough opportunity to create more sustainable transportation in the future. Autonomous vehicles are supposed to provide a safe, easy-to-use and environmentally friendly means of transport. To this end, improving AVs’ safety and energy efficiency by using advanced control and optimization algorithms has become an active research topic to deliver on new commitments: carbon reduction and responsible innovation. The focus of this study is to improve the energy consumption of an AV in a vehicle-following process while safe driving is satisfied. We propose a cascade control system in which an autonomous cruise controller (ACC) is integrated with an energy management system (EMS) to reduce energy consumption. An adaptive model predictive control (AMPC) is proposed as the ACC to control the acceleration of the ego vehicle (the following vehicle) in a vehicle-following scenario, such that it can safely follow the lead vehicle in the same lane on a highway. The proposed ACC appropriately switches between speed and distance control systems to follow the lead vehicle safely and precisely. The computed acceleration is then used in the EMS component to find the optimal engine torque that minimizes the fuel consumption of the ego vehicle. EMS is designed based on two methods: type 1 fuzzy logic system (T1FLS) and interval type 2 fuzzy logic system (IT2FLS). Results show that the combination of AMPC and IT2FLS significantly reduces fuel consumption while the ego vehicle follows the lead vehicle safely and with a minimum spacing error. The proposed controller facilitates smarter energy use in AVs and supports safer transportation.

Keywords: autonomous vehicle; cascade control; adaptive model predictive control; interval type 2 fuzzy logic; autonomous cruise control; sustainable circular economy; complex system (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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