This book focuses on the design of a multi-criteria automated vehicle longitudinal control system as an enhancement of the adaptive cruise control system. It analyses the effects of various parameters on the average traffic speed and the traction force of the vehicles in mixed traffic from a macroscopic point of view, and also demonstrates why research and development in speed control and predictive cruise control is important. The book also summarises the main steps of the system’s robust control design, from the modelling to its synthesis, and discusses both the theoretical background and the practical computation method of the control invariant sets.
The book presents the analysis and verification of the system both in a simulation environment and under real-world conditions. By including the systematic design of the predictive cruise control using road and traffic information, it shows how optimization criteria can lead to multiobjective solutions, and the advanced optimization and control design methods required. The book focuses on a particular method by which the unfavourable effect of the traffic flow consideration can be reduced. It also includes simulation examples in which the speed design is performed, while the analysis is carried out in simulation and visualization environments.
This book is a valuable reference for researchers and control engineers working on traffic control, vehicle control and control theory. It is also of interest to students and academics as it provides an overview of the strong interaction between the traffic flow and an individual vehicle cruising from both a microscopic and a macroscopic point of view.

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lgrsnf/O:\genesis4\!!!springer\10.1007%2F978-3-030-04116-8.pdf

nexusstc/Predictive Cruise Control for Road Vehicles Using Road and Traffic Information/2088473ded24f191b8baebfd5ce21ca1.pdf

scihub/10.1007/978-3-030-04116-8.pdf

zlib/Science (General)/Péter Gáspár, Balázs Németh/Predictive Cruise Control for Road Vehicles Using Road and Traffic Information_3660731.pdf

459439_1_En_Print.indd

Gáspár, Péter, Németh, Balázs

0009172

Springer Springer [Distributor

Springer Nature Switzerland AG

Advances in Industrial Control Ser, New York : Berlin, Nov. 2018

Advances in industrial control, 1st ed. 2019, Cham, 2019

Advances in industrial control, Cham, Switzerland, 2019

Springer Nature, Switzerland, 2019

Switzerland, Switzerland

1st ed. 2019, 2018

Nov 20, 2018

sm73325346

producers:
Acrobat Distiller 10.0.0 (Windows)

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Source title: Predictive Cruise Control for Road Vehicles Using Road and Traffic Information (Advances in Industrial Control)

Series Editor’s Foreword 6
Contents 8
1 Introduction 12
1.1 Motivation Background Concerning Autonomous Vehicle Control 14
1.2 Structure of the Book 16
References 19
Part I Predictive Cruise Control 20
2 Design of Predictive Cruise Control Using Road Information 21
2.1 Speed Design Based on Road Slopes and Weighting Factors 23
2.1.1 Speeds at the Section Points Ahead of the Vehicle 24
2.1.2 Weighting Strategy 27
2.2 Optimization of the Vehicle Cruise Control 29
2.2.1 Handling the Optimization Criteria 31
2.2.2 Trade-Off Between the Optimization Criteria 32
2.2.3 Handling Traveling Time 33
2.3 LPV Control Design Method 35
2.3.1 Control-Oriented LPV Modeling 35
2.3.2 LPV-Based Control Design 37
2.3.3 Stability Analysis of the Closed-Loop System 39
2.3.4 Architecture of the Speed Profile Implementation 41
2.3.5 Architecture of the Control System 42
2.4 Simulation Examples 43
2.4.1 Analysis of the Weighting Factors 44
2.4.2 Impact the Various Parameters on the Adaptive Cruise Control 45
2.4.3 Analysis of the Look-Ahead Method in a Motorway 48
2.4.4 Comparison with Dynamic Programming 51
2.4.5 Stability Analysis 54
References 56
3 Design of Predictive Cruise Control Using Road and Traffic Information 58
3.1 Handling the Preceding Vehicle in the Speed Design 59
3.2 Considering the Motion of the Follower Vehicle in the Speed Design 60
3.2.1 Calculation of Safe Distance 60
3.2.2 Optimization for Safe Cruising 63
3.3 Lane Change in the Look-Ahead Control Concept 64
3.4 Simulation Results 65
3.4.1 Handling the Preceding Vehicle 65
3.4.2 Handling the Follower Vehicle 67
3.4.3 A Complex Simulation Scenario 68
References 72
4 Design of Predictive Cruise Control for Safety Critical Vehicle Interactions 74
4.1 Strategy of Vehicle Control in Intersections 77
4.2 Motion Prediction of Vehicles in the Intersection 80
4.2.1 Motion Prediction of Human-Driven Vehicles 80
4.2.2 Speed Prediction of the Controlled Vehicle 81
4.3 Optimal Speed Profile Design 82
4.4 Simulation Results 84
4.4.1 Interaction of Autonomous Vehicles 84
4.4.2 Interaction of Human and Autonomous Vehicles 86
References 90
Part II Analysis of the Traffic Flow 91
5 Relationship Between the Traffic Flow and the Cruise Control from the Microscopic Point of View 92
5.1 Sensitivity Analysis of the Optimum Solution 95
5.1.1 Example of the Sensitivity Analysis 99
5.2 Speed Profile Optimization 101
5.3 Demonstration of the Optimization Method 103
References 106
6 Relationship Between the Traffic Flow and the Cruise Control from the Macroscopic Point of View 107
6.1 Dynamics of the Traffic with Multi-class Vehicles 108
6.2 Analysis of the Predictive Cruise Control in the Traffic 110
6.3 Improvement of Traffic Flow Using the Predictive Control 114
6.4 Illustration of the Method 118
References 122
Part III Control Strategies 124
7 Control Strategy of the Ramp Metering in the Mixed Traffic Flow 125
7.1 Modeling the Effect of Cruise Controlled Vehicles on Traffic Flow 126
7.2 Stability Analysis of the Traffic System 129
7.3 Control Strategy of the Ramp Metering and the Cruise Controlled Vehicles 131
7.4 Simulation Results 132
References 136
8 MPC-Based Coordinated Control Design of the Ramp Metering 137
8.1 Modeling and Analysis of the Traffic Flow with Cruise Controlled Vehicles 138
8.2 MPC-Based Coordinated Control Strategy 141
8.3 Simulation Examples 146
References 152
9 Data-Driven Coordination Design of Traffic Control 154
9.1 Architecture of the Proposed Traffic Control System 155
9.2 Optimal Coordination Strategy Based on Traffic Flow Data 157
9.2.1 Fundamentals of the LS Method 157
9.2.2 Modeling the Traffic Flow Dynamics 159
9.3 Optimal Coordination Strategy Based on Minimax Method 161
9.4 Simulation Examples 165
References 169
10 Cruise Control Design in the Platoon System 171
10.1 Design of the Leader Velocity Based on an Optimization Method 172
10.2 Design of Vehicle Control in the Platoon 175
10.2.1 Design of Robust Control 175
10.2.2 Stability Analysis of the Closed-Loop System 176
10.3 Simulation Results 178
References 181
11 Simulation and Validation of Predictive Cruise Control 182
11.1 Architecture of the Vehicle Simulator 182
11.2 Implementation of the Cruise Control on a Real Truck 187
11.2.1 Test Results 191
References 193
A Brief Summary of the Model-Based Robust LPV Control Design 194
A.1 Control-Oriented Modeling of LPV Systems 194
A.2 Gain-Scheduled mathcalHinfty Controllers 195
A.3 Analysis of LPV Systems 200
A.4 Synthesis of LPV Systems 202
A.5 Formulation of a Nonlinear Controller 206
B Brief Summary of the Maximum Controlled Invariant Sets 208
B.1 Fundamentals of SOS Programming Technique 208
B.2 The Computation Method of Controlled Invariant Sets for Continuous Time Systems 211
B.2.1 Example on the Computation of the Sets 214
B.3 The Computaion Method of Controlled Invariant Sets for Discrete Time Systems 217
B.4 LPV-Based Computation Method of Controllability Sets for Continuous Time Systems 219
References 223
Index 225

Front Matter ....Pages i-x
Introduction (Péter Gáspár, Balázs Németh)....Pages 1-8
Front Matter ....Pages 1-1
Design of Predictive Cruise Control Using Road Information (Péter Gáspár, Balázs Németh)....Pages 11-47
Design of Predictive Cruise Control Using Road and Traffic Information (Péter Gáspár, Balázs Németh)....Pages 49-64
Design of Predictive Cruise Control for Safety Critical Vehicle Interactions (Péter Gáspár, Balázs Németh)....Pages 65-81
Front Matter ....Pages 83-83
Relationship Between the Traffic Flow and the Cruise Control from the Microscopic Point of View (Péter Gáspár, Balázs Németh)....Pages 85-99
Relationship Between the Traffic Flow and the Cruise Control from the Macroscopic Point of View (Péter Gáspár, Balázs Németh)....Pages 101-117
Front Matter ....Pages 117-117
Control Strategy of the Ramp Metering in the Mixed Traffic Flow (Péter Gáspár, Balázs Németh)....Pages 121-132
MPC-Based Coordinated Control Design of the Ramp Metering (Péter Gáspár, Balázs Németh)....Pages 133-149
Data-Driven Coordination Design of Traffic Control (Péter Gáspár, Balázs Németh)....Pages 151-167
Cruise Control Design in the Platoon System (Péter Gáspár, Balázs Németh)....Pages 169-179
Simulation and Validation of Predictive Cruise Control (Péter Gáspár, Balázs Németh)....Pages 181-192
Back Matter ....Pages 193-226

2018-12-17