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原文传递 Model-free speed management for a heterogeneous platoon of connected ground vehicles

题名：	Model-free speed management for a heterogeneous platoon of connected ground vehicles
正文语种：	eng
作者：	Yifan Weng;Rasoul Salehi;Xinyi Ge;Denise Rizzo;Matthew P. Castanier;Scott Heim;Tulga Ersal
作者单位：	Department of Mechanical Engineering University of Michigan;Department of Mechanical Engineering University of Michigan;Department of Mechanical Engineering University of Michigan;U.S. Army Ground Vehicle Systems Center;U.S. Army Ground Vehicle Systems Center;U.S. Army Ground Vehicle Systems Center;Department of Mechanical Engineering University of Michigan
关键词：	connected vehicles;fuel economy;model-free optimization;platoon
摘要：	Abstract Motivated by military applications, this work considers connected platoons of ground vehicles of potentially different sizes and presents a model-free approach for optimizing the speed of the platoon to adjust the tradeoff between fuel economy and mobility as measured by travel speed. The motivation to seek a model-free solution is twofold: (1) vehicle models that are typically assumed to be available in model-based methods are not available on-board for military vehicles; (2) a model-free solution can offer robustness to modeling errors. Therefore, in this paper, the problem of optimizing the tradeoff between fuel economy and mobility of a mixed platoon is formulated as an optimization problem and solved using the model-free Nelder-Mead approach. To explore the performance characteristics of this approach, a case study is performed with two different size vehicles that are representative of military trucks, both in simulation and in a novel networked engine-in-the-loop setup. The results show that the proposed approach can achieve the desired balance between fuel economy and mobility in a model-free manner despite the nonlinearity caused by gear shift deadzones, albeit at the expense of relatively slow convergence time. In addition, a design guideline for the parameters in the Nelder-Mead approach is also discussed.
出版年：	2022
期刊名称：	Journal of Intelligent Transportation Systems
卷：	26
期：	1/6
页码：	188-202