Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles

doi:10.23919/ACC53348.2022.9867210

	Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles
	Pirani, Mohammad 1; She, Yining2 ; Tang, Renzhi2 ; Jiang, Zhihao2 ; Vardhan Pant, Yash 1
	2022-06-11
会议录名称	2022 AMERICAN CONTROL CONFERENCE (ACC)
ISSN	0743-1619
发表状态	已发表
DOI	10.23919/ACC53348.2022.9867210
摘要	A necessary prerequisite for the safe interaction of autonomous systems with a human-driven vehicle is for the overall closed-loop system (autonomous systems plus human-driven vehicle) to be stable. This paper studies the safe and stable interaction between a platoon of autonomous vehicles and a set of human-driven vehicles. Considering the longitudinal motion of the vehicles in the platoon, the problem is to ensure a safe emergency braking by the autonomous platoon considering the actions of human-driven vehicles, which may vary based on the driver type. We consider two types of platoon topologies, namely unidirectional and bidirectional. Safe emergency braking is characterized by a specific type of platoon stability, called head-to-tail stability (HTS). We present system-theoretic necessary and sufficient conditions for the combination of the autonomous platoon and human-driven vehicles to be HTS for two platoon control laws, namely the velocity tracking and the platoon formation. Modeling the input-output behavior of each vehicle via a transfer function, the HTS conditions restrict the human-driven vehicles’ transfer functions to have H∞ norms below certain thresholds. A safe interaction algorithm first identifies the transfer functions of the human-driven vehicles. Then, it tunes the platoon control gains such that the overall system meets HTS conditions. Theoretical results are validated with both experimental data with human subject studies and simulation studies.
关键词	High-temperature superconductors Sufficient conditions Transfer functions Stability analysis Data models Topology Behavioral sciences
会议地点	Atlanta, GA, USA
会议日期	8-10 June 2022
URL	查看原文
收录类别	EI
来源库	IEEE
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/235995
专题	信息科学与技术学院_PI研究组_江智浩组信息科学与技术学院_硕士生信息科学与技术学院_本科生
通讯作者	Pirani, Mohammad
作者单位	1.University of Waterloo, Department of Electrical and Computer Engineering, Canada; 2.ShanghaiTech University, School of Information Science and Technologies, China
推荐引用方式 GB/T 7714	Pirani, Mohammad,She, Yining,Tang, Renzhi,et al. Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles[C],2022.