Fully Distributed Optimization-Based CAV Platooning Control Under Linear Vehicle Dynamics

Jinglai Shen (), Eswar Kumar H. Kammara () and Lili Du ()
Additional contact information
Jinglai Shen: Department of Mathematics and Statistics, University of Maryland, Baltimore, Maryland 21250
Eswar Kumar H. Kammara: Department of Mathematics and Statistics, University of Maryland, Baltimore, Maryland 21250
Lili Du: Department of Civil and Coastal Engineering, University of Florida, Gainesville, Florida 32608

Transportation Science, 2022, vol. 56, issue 2, 381-403

Abstract: This paper develops distributed optimization-based, platoon-centered connected and autonomous vehicle (CAV) car-following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV platooning. However, most existing distributed schemes for platoon centered CAV control require either centralized data processing or centralized computation in at least one step of their schemes, referred to as partially distributed schemes. In this paper, we develop fully distributed optimization based, platoon centered CAV platooning control under the linear vehicle dynamics via the model predictive control approach with a general prediction horizon. These fully distributed schemes do not require centralized data processing or centralized computation through the entire schemes. To develop these schemes, we propose a new formulation of an objective function and a decomposition method that decomposes a densely coupled central objective function into the sum of multiple locally coupled functions whose coupling satisfies the network topology constraint. We then exploit locally coupled optimization and operator splitting methods to develop fully distributed schemes. Control design and stability analysis is carried out to achieve desired traffic transient performance and asymptotic stability. Numerical tests demonstrate the effectiveness of the proposed fully distributed schemes and CAV platooning control.

Keywords: connected and autonomous vehicle; car-following control; distributed algorithm; constrained optimization; control and stability (search for similar items in EconPapers)
Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://dx.doi.org/10.1287/trsc.2021.1100 (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:inm:ortrsc:v:56:y:2022:i:2:p:381-403

Access Statistics for this article

More articles in Transportation Science from INFORMS Contact information at EDIRC.
Bibliographic data for series maintained by Chris Asher ().