Robust Model Predictive Control of Connected and Automated Vehicle Trajectories on Urban Roads
To solve the problem of the actuator delay and uncertainties which may cause platoon instability or even destabilization,this paper proposes a robust model predictive control approach for vehicle trajectory optimization on urban roads.A third-order vehicle dynamics model was developed to optimize ride comfort,safety,platoon stability,fuel efficiency,and traffic delay.The behaviors of the red-light violations and the unsafe inter-vehicle distances were penalized,and the speed and acceleration were bounded.The signal changes were treated as system feedback.The proposed vehicle trajectory controller aims to improve the operational efficiency of controlled vehicles.The vehicle trajectory controller was formulated as a Min-Max model predictive control problem to enhance platoon stability by determining the control inputs in the worst case of actuator delays and uncertainties.Then,the iterative Pontryagin's maximum principle was used to solve the control problem,which discretized the control problem and divided the uncertain parameters into multiple intervals.To improve the computational efficiency,the proposed solution approach identified the worst case,iteratively computed the state variables forward in time,and solved the costate variables backward in time.The numerical simulation results demonstrate that the proposed controller performs well on the lane sections with and without signal controllers.The robust model predictive control approach can effectively response to random actuator delays and external vehicle disturbances,such as signal changes,abrupt speed changes,and small trajectory deviations caused by human drivers.The proposed robust Min-Max model predictive controller(MM-MPC)manifests better stability and superiority than the normal MPC controller in riding comfort(improved by 75.7%)and fuel consumption(reduced by 18.4%).
intelligent transportationtrajectory controlrobust model predictive controlconnected and automated vehicleactuated signal control
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