Cooperative Adaptive Cruise Control Performance Analysis Qi Sun To cite this version: Qi Sun. Cooperative Adaptive Cruise Control Performance Analysis. Automatic. Ecole Centrale de Lille, 2016. English. NNT : 2016ECLI0020. tel-01491026 HAL Id: tel-01491026 https://tel.archives-ouvertes.fr/tel-01491026 Submitted on 16 Mar 2017 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. No d’ordre : 3 0 3 CENTRALE LILLE THÈSE présentée en vue d’obtenir le grade de DOCTEUR Spécialité : Automatique, Génie Informatique, Traitement du Signal et des Images par SUN Qi Master of Engineering of Beijing University of Aeronautics and Astronautics (BUAA) Master de Sciences et Technologies de l’École Centrale de Lille Doctorat délivré par Centrale Lille Analyse de Performances de Régulateurs de Vitesse Adaptatifs Coopératifs Soutenue le 15 décembre 2016 devant le jury : M. Pierre BORNE Ecole Centrale de Lille Président M. Noureddine ELLOUZE Ecole Nationale d’Ingénieurs de Tunis Rapporteur Mme. Shaoping WANG Université de Beihang, Chine Rapporteur M. Hamid AMIRI Ecole Nationale d’Ingénieurs de Tunis Examinateur M. Abdelkader EL KAMEL Ecole Centrale de Lille Directeur de Thèse Mme. Zhuoyue SONG Université de technologie de Pékin, Chine Examinateur Mme. Liming ZHANG Université de Macao, Chine Examinateur Thèse préparée dans le Centre de Recherche en Informatique, Signal et Automatique de Lille CRIStAL - UMR CNRS 9189 - École Centrale de Lille École Doctorale Sciences pour l’Ingénieur - 072 Serial No : 3 0 3 CENTRALE LILLE THESIS presented to obtain the degree of DOCTOR Topic : Automatic control, Computer Engineering, Signal and Image Processing by SUN Qi Master of Engineering of Beijing University of Aeronautics and Astronautics (BUAA) Master of Science and Technology of Ecole Centrale de Lille Ph.D. awarded by Centrale Lille Cooperative Adaptive Cruise Control Performances Analysis Defended on December 15, 2016 in presence of the committee : Mr. Pierre BORNE Ecole Centrale de Lille President Mr. Noureddine ELLOUZE Ecole Nationale d’Ingénieurs de Tunis Reviewer Mrs. Shaoping WANG Université de Beihang, China Reviewer Mr. Hamid AMIRI Ecole Nationale d’Ingénieurs de Tunis Examiner Mr. Abdelkader EL KAMEL Ecole Centrale de Lille PhD Supervisor Mrs. Zhuoyue SONG Université de technologie de Pékin, China Examiner Mrs. Liming ZHANG Université de Macao, China Examiner Thesis prepared within the Centre de Recherche en Informatique, Signal et Automatique de Lille CRIStAL - UMR CNRS 9189 - École Centrale de Lille École Doctorale Sciences pour l’Ingénieur - 072 To my parents, to all my family, to my professors, and to all my friends. Acknowledgement This research work has been realized at "Centre de Recherche en Informatique, Sig- nal et Automatique de Lille (CRIStAL)" in École Centrale de Lille, with the research group "Optimisation : Modèles et Applications (OPTIMA)" from September 2013 to December 2016. This work is financially supported by China Scholarship Council (CSC). Thanks to the founding of CSC, it is my great honor having this valuable experience in France. First and foremost I offer my sincerest gratitude to my PhD supervisor, Prof. Abdelkader EL KAMEL, for his supervision, valuable guidance, continuous en- couragement as well as given me extraordinary experiences through out my Ph.D. experience. I could not have imagined having a better tutor and mentor for my Ph.D. study. Besides my supervisor, I would like to thank Prof. Pierre BORNE for his kind acceptance to be the president of my PhD Committee. I would also like to express my sincere gratitude to Prof. Noureddine ELLOUZE and Prof. Shaoping WANG, who have kindly accepted the invitation to be reviewers of my Ph.D. thesis, for their encouragement, insightful comments and interesting questions. My gratitude to Prof. Hamid AMIRI, Prof. Zhuoyue SONG and Prof. Liming ZHANG, for their kind acceptance to take part in the jury of the PhD defense. I am also very grateful to the staff in École Centrale de Lille. Vanessa FLEURY, Brigitte FONCEZ and Christine YVOZ have helped me in the administration. Many thanks go also to Patrick GALLAIS, Gilles MARGUERITE and Jacques LASUE, for their kind help and hospitality. Special thanks go to Christine VION, Martine MOUVAUX for their support in my residence life. My sincere thanks also goes to Dr. Tian ZHENG, Dr. Yue YU, Dr. Daji TIAN, i ii ACKNOWLEDGEMENTS Dr. Chen XIA and Dr. Bing LIU, for offering me useful suggestion during my research in the laboratory as well as after their graduation. I would like to take the opportunity to express my gratitude and to thank my fellow workmates in CRIStAL: Yihan LIU, Jian ZHANG for the stimulating dis- cussions for the hard teamwork. Also I wish to thank my friends and colleagues: Qi GUO, Hongchang ZHANG, Lijie BAI, Jing BAI, Ben LI, Xiaokun DING, Jianxin FANG, Hengyang WEI, Lei ZHANG, Chang LIU etc., for their friendship in the past three years. All of them have given me support and encouragement in my thesis work. Special thanks to Meng MENG, for her accompany, patience, and encouragement. All my gratitude goes to Ms. Hélène CATSIAPIS, my French teacher, who showed us the French language and culture. She organized some interesting and unforgettable voyages in France, which inspired my knowledge and interest in the French culture, opened my appetite for art and history, enriched my experience in France. My acknowledgements to all the professors and teachers in École Centrale de Pékin, Beihang University. The engineer education there not only gave me solid knowledge but also made it easier for me to live in France. A special acknowledgment should be shown to Prof. Zongxia JIAO at the School of Automation Science and Electrical Engineering, Beihang University, who enlightened me at the first glance of research. I always benefit from the abilities that I obtained on his team. Last but not least, I convey special acknowledgement to my parents, Yibo SUN and Yumei LI, for supporting me to pursue this degree and to accept my absence for four years of living abroad. Villeneuve d’Ascq, France Sun Qi November, 2016 Contents List of Figures vii 1 Introduction to ITS 7 1.1 General traffic situation ........................ 8 1.2 Intelligent Transportation Systems ................. 11 1.2.1 Definition of ITS ........................... 11 1.2.2 ITS applications ........................... 13 1.2.3 ITS benefits .............................. 16 1.2.4 Previous researches .......................... 18 1.3 Intelligent vehicle ............................ 19 1.4 Adaptive Cruise Control ........................ 22 1.4.1 Evolution: from autonomous to cooperative ............ 22 1.4.2 Development of ACC ......................... 24 1.4.3 Related work in CACC ........................ 25 1.5 Vehicle Ad hoc networks ........................ 28 1.6 Machine Learning ............................ 32 1.7 Conclusion ................................. 34 2 String stability and Markov decision process 37 2.1 String stability .............................. 38 2.1.1 Introduction ............................. 38 2.1.2 Previous research ........................... 38 2.2 Markov Decision Processes ....................... 43 2.3 Policies and Value Functions ..................... 46 2.4 Dynamic Programming:Model-Based Algorithms ......... 49 iii iv CONTENTS 2.4.1 Policy Iteration ............................ 50 2.4.2 Value Iteration ............................ 52 2.5 Reinforcement Learning:Model-Free Algorithms ........ 53 2.5.1 Objectives of Reinforcement Learning ................ 54 2.5.2 Monte Carlo Methods ........................ 55 2.5.3 Temporal Difference Methods .................... 56 2.6 Conclusion ................................. 57 3 CACC system design 59 3.1 Introduction ................................ 60 3.2 Problem formulation .......................... 62 3.2.1 Architecture of longitudinal control ................. 62 3.2.2 Design objectives ........................... 63 3.3 CACC controller design ........................ 64 3.3.1 Constant Time Headway spacing policy ............... 64 3.3.2 Multiple V2V CACC system ..................... 66 3.3.3 System Response Model ....................... 67 3.3.4 TVACACC diagram ......................... 71 3.4 String stability analysis ......................... 72 3.4.1 String stability of TVACACC ..................... 72 3.4.2 Comparison of ACC, CACC AND TVACACC ........... 74 3.5 Simulation tests .............................. 75 3.5.1 Comparison of ACC CACC and TVACACC ............ 76 3.5.2 Increased transmission delay ..................... 77 3.6 Conclusion ................................. 78 4 Degraded CACC system design 81 4.1 Introduction ................................ 82 4.2 Transmission degradation ....................... 83 4.3 Degradation of CACC . 85 4.3.1 Estimation of acceleration ...................... 85 4.3.2 DTVACACC ............................. 89 CONTENTS v 4.3.3 String stability analysis ........................ 92 4.3.4 Model switch strategy ........................ 94 4.4 Simulation ................................