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Volume 56 Issue 6
Dec.  2021
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Journal of Southwest Jiaotong University  > 2021  >  56(6): 1290-1297.
LIANG Jun, YU Yang, WANG Wensa, CHEN Long. Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow[J]. Journal of Southwest Jiaotong University, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514
Citation: LIANG Jun, YU Yang, WANG Wensa, CHEN Long. Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow[J]. Journal of Southwest Jiaotong University, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514
shu

Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow

doi: 10.3969/j.issn.0258-2724.20200514

  • Automotive Engineering Research Institute，Jiangsu University，Zhenjiang 212013，China

  • Received Date: 06 Aug 2020
  • Rev Recd Date: 01 Dec 2020
    • Available Online: 15 Apr 2021
  • Publish Date: 15 Apr 2021
    Abstract

  • To improve the ride comfort of cooperative adaptive cruise control (CACC) system under the mixed traffic flow that comprises connected automated vehicle (CAV) and manual vehicle (MV), a dual-layer control strategy considering ride comfort (RC-DCS) is proposed. From a macro perspective, the upper controller adopts a two-state space model to adjust the following distance and speed, and improve the overall stability and comfort of the fleet by the use of the cost function. From a microscopic perspective, the lower controller optimizes the logic of switching the throttle and brake pedal of a single vehicle, and stabilizes its actual acceleration output, thereby reducing the pitch caused by frequent acceleration and deceleration. The experimental results show that, the RC-DCS can reduce the following distance error and acceleration by 72.44% and 24.87% respectively in following MV condition. In the condition of MV cut-in CACC fleet, the acceleration fluctuation is reduced by increasing the following headway of 0.4 s. In the three typical conditions of vehicle following, emergency braking and cut-in, the standard deviation of the single-vehicle acceleration is reduced by 9.6%, 10.4% and 2.9%, respectively.

     

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