A Constrained Optimal Control Framework for Vehicle Platoons with Delayed Communication

TL;DR

This paper develops a real-time, robust optimal control framework for vehicle platoons at highway on-ramp merges, accounting for communication delays to improve safety, fuel efficiency, and travel time.

Contribution

It introduces a single-level constrained optimal control approach with a closed-form solution that handles delayed communication for vehicle platoons.

Findings

Effective in maintaining safety constraints despite communication delays

Improves fuel economy and reduces travel time in simulations

Provides a real-time implementable control solution

Abstract

Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level constrained optimal control framework that optimizes fuel economy and travel time of the platoons while satisfying the state, control, and safety constraints. We also explore the effect of delayed communication among the CAV platoons and propose a robust coordination framework to enforce lateral and rear-end collision avoidance constraints in the presence of bounded delays. We provide a closed-form analytical solution of the optimal control problem with safety guarantees that can be implemented in real time. Finally, we validate the effectiveness of the proposed control framework using a high-fidelity commercial simulation environment.