A Comparative Study on Model Predictive Control Design for Highway Car-Following Scenarios: Space-Domain and Time-Domain Modelopen access
- Authors
- Lee, Youngro; Lee, Dae Young; Lee, Seung Hwan; Kim, Youngki
- Issue Date
- Nov-2021
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Time-domain analysis; Roads; Fuels; Predictive models; Numerical models; Computational modeling; Mathematical models; Cooperative adaptive cruise control; car-following problem; model predictive control; multi-objective optimization
- Citation
- IEEE ACCESS, v.9, pp.162291 - 162305
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE ACCESS
- Volume
- 9
- Start Page
- 162291
- End Page
- 162305
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/140398
- DOI
- 10.1109/ACCESS.2021.3131681
- ISSN
- 2169-3536
- Abstract
- Model predictive control (MPC) has been widely adopted for cooperative adaptive cruise control (CACC) due to its superior performance in achieving fuel-efficient driving while satisfying constraints such as inter-vehicle distance. The core of an MPC-based algorithm is to predict the vehicle's behavior using a dynamic model, and the space-domain vehicle dynamic model is frequently implemented in recent research along with the time-domain vehicle dynamic model. This paper presents a comparative performance analysis between the space-domain and the time-domain models in the MPC framework for the car-following problem. An MPC design process and analysis method for the high-speed car-following scenario is suggested and presented for equivalent performance comparison between the two approaches. In order to analyze trends between speed tracking and fuel-saving performance, which are conflicting objectives as car-following performance, a bi-objective cost function is proposed and manipulated by various weightings. It is observed that the space-domain model presents stable tracking performance, and the time-domain model shows better fuel efficiency. However, the space-domain model with road information is superior in tracking and fuel efficiency compared to the time-domain model with limited road information. Pareto analysis was implemented to visualize and describe performance differences in various situations regarding tracking error, fuel efficiency, and road grade information levels.
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