Vehicle platoon has the potential of improving the safety and efficiency of road transportation systems. Nevertheless, an integrated control of vehicle longitudinal and lateral motions is key to realizing these improvements. This paper focuses on developing a model predictive controller (MPC) for 2-D vehicle platoons and addresses the corresponding tuning problem of the MPC cost function hyperparameters. We adopt a distributed MPC (DMPC) framework to develop a two-stage cooperative controller, including a high-level reference generating step and a low-level stage to calculate control signals for the vehicles. The DMPC cost function trades off reference tracking versus energy consumption, therefore, the cost function tunning parameters are critical in achieving the best results. An automatic tuning framework based on Bayesian optimization (BO) is designed to search for the optimal parameters of the DMPC. Finally, the effectiveness of the proposed method is demonstrated through rigorous CarSim simulations. It is shown that the proposed methodology produces a better tracking and energy consumption compared to a baseline controller and the DMPC with predefined fixed parameters.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Bayesian Optimization for Automatic Tuning of an Energy Aware 2-D Vehicle Platoon


    Contributors:
    Zhang, Nianhua (author) / Nazari, Shima (author) / Chen, Jicheng (author) / Xu, Xiangyang (author) / Zhang, Hui (author)

    Published in:

    Publication date :

    2024-11-01


    Size :

    2854375 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    VEHICLE PLATOON AND PLATOON TRAVEL METHOD

    KIKUCHI OSAMU / ASAKAWA YUICHIRO / HASEBE HIROKI et al. | European Patent Office | 2018

    Free access

    VEHICLE PLATOON CONTROLLER

    YOKOYAMA DAIKI / OTSUKI HIROSHI / SUZUKI TAKAHIRO et al. | European Patent Office | 2021

    Free access

    VEHICLE LIGHT PLATOON

    DUDAR AED M | European Patent Office | 2019

    Free access

    Vehicle light platoon

    DUDAR AED M | European Patent Office | 2021

    Free access

    VEHICLE PLATOON REFUELING

    DUDAR AED M / MILLER KENNETH JAMES / LEONE THOMAS G | European Patent Office | 2019

    Free access