A Unified Framework for Data-Driven Optimal Control of Connected Vehicles in Mixed Traffic

This article presents a unified approach to the problem of learning-based optimal control of connected human-driven and autonomous vehicles in mixed-traffic environments including both the freeway and ring road settings. The stabilizability of a string of connected vehicles including multiple autonomous vehicles (AVs) and heterogeneous human-driven vehicles (HDVs) is studied by a model reduction technique and the Popov-Belevitch-Hautus (PBH) test. For this problem setup, a linear quadratic regulator (LQR) problem is formulated and a solution based on adaptive dynamic programming (ADP) techniques is proposed without a priori knowledge on model parameters. To start the learning process, an initial stabilizing control law is obtained using the small-gain theorem for the ring road case. It is shown that the obtained stabilizing control law can achieve general 𝓛𝑝 string stability under appropriate conditions. Besides, to minimize the impact of external disturbance, a linear quadratic zero-sum game is introduced and solved by an iterative learning-based algorithm. Finally, the simulation results verify the theoretical analysis and the proposed methods achieve desirable performance for control of a mixed-vehicular network.

• Record URL:
  http://dx.doi.org/10.1109/TIV.2023.3287131
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Liu, Tong
  • 0000-0002-3667-917X
  • Cui, Leilei
  • Pang, Bo
  • Jiang, Zhong-Ping
• Publication Date: 2023-8

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References;
• Pagination: pp 4131-4145
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 8
  • Issue Number: 8
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Connected vehicles; Dynamic programming; Highway traffic control; Vehicle mix
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01900210
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 20 2023 4:25PM