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Cooperative optimal control for connected and automated vehicles platoon

Author

Listed:
  • Chen, Jianzhong
  • Li, Jing
  • Xu, Zhaoxin
  • Wu, Xiaobao

Abstract

The coordination and the energy consumption are very important for the platooning of connected and automated vehicles (CAVs). A novel cooperative optimal control for CAVs platoon on basic freeway sections is proposed in this paper. A cost function is designed to address the cooperation of followers, the motion synchronization with the leading vehicle and appropriate energy consumptions. A third-order consensus strategy is suggested to design the control input. A more effective and flexible spacing strategy is introduced. The asymptotically stability and string stability conditions of the system are established. By constructing and solving the LMI optimization problem, the optimal control gains are derived and the global cost function is minimized to a specific upper bound. Numerical simulations are performed on several specific traffic scenarios. The results demonstrate the effectiveness of the presented modeling method.

Suggested Citation

  • Chen, Jianzhong & Li, Jing & Xu, Zhaoxin & Wu, Xiaobao, 2022. "Cooperative optimal control for connected and automated vehicles platoon," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 607(C).
    • Handle: RePEc:eee:phsmap:v:607:y:2022:i:c:s0378437122007555
    DOI: 10.1016/j.physa.2022.128197
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    References listed on IDEAS

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    1. Chen, Jianzhong & Liang, Huan & Li, Jing & Xu, Zhaoxin, 2021. "A novel distributed cooperative approach for mixed platoon consisting of connected and automated vehicles and human-driven vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 573(C).
    2. Yu, Shaowei & Fu, Rui & Guo, Yingshi & Xin, Qi & Shi, Zhongke, 2019. "Consensus and optimal speed advisory model for mixed traffic at an isolated signalized intersection," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 531(C).
    3. Wu, Zhibei & Sun, Jitao & Xu, Ruihua, 2021. "Consensus-based connected vehicles platoon control via impulsive control method," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 580(C).
    4. Xin, Qi & Fu, Rui & Ukkusuri, Satish V. & Yu, Shaowei & Jiang, Rui, 2021. "Modeling and impact analysis of connected vehicle merging accounting for mainline random length tight-platoon," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 563(C).
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    Citations

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    1. Xie, Junhong & Chen, Jianzhong & Lv, Zekai & Xu, Zhihe, 2025. "An optimal coordinated merging strategy for CAVs platoon at on-ramp area," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 676(C).
    2. Xie, Junhong & Chen, Jianzhong & Lv, Zekai & Xu, Zhihe, 2025. "Adaptive longitudinal and lateral car-following control for multi-platoon with parameter uncertainties and external disturbance," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 677(C).
    3. Zhuang, Xinfa & Zhang, Jing & Tian, Junfang & Cui, Fengying & Wang, Tao, 2024. "Variable time headway spacing strategy for connected vehicles platoon based on sliding mode control," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 637(C).
    4. Huang, Darong & Bao, Yibo & Na, Yuhong & Li, Zhongmei, 2025. "Consistency control method for intelligent connected vehicle platoon based on dynamic trust evaluation under the zero-trust framework," Chaos, Solitons & Fractals, Elsevier, vol. 200(P3).
    5. Qian, Jun-Hao & Zhao, Yi-Xin & Huang, Wei, 2023. "Model improvement and scheduling optimization for multi-vehicle charging planning in IoV," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 621(C).
    6. Peng, Guanghan & Liu, Yuangui & Tan, Huili & Xia, Dongxue & Zhou, Tong, 2025. "Phase transition in lattice hydrodynamic model integrating random anomalous information under connected autonomous vehicles surroundings," Chaos, Solitons & Fractals, Elsevier, vol. 201(P2).

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