Experimental Study and Modeling of the Lower-Level Controller of Automated Vehicle

• Published in: IEEE transactions on intelligent transportation systems Vol. 24; no. 11; pp. 1 - 10
• Main Authors: Liu, Hua-Qing, Zheng, Shi-Teng, Jiang, Rui, Tian, Junfang, Yan, Ruidong, Zhang, Fang, Zhang, Dezhao
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Automated vehicle; Biological system modeling; Control theory; Controllers; field experiment; Flow stability; lower-level control; Modelling; Numerical models; Oscillators; Perturbation methods; stability analysis; Stability criteria; Traffic capacity; Traffic flow; Vehicle dynamics; Vehicles
• ISSN: 1524-9050; 1558-0016
• DOI: 10.1109/TITS.2023.3285609

Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two vehicles that are equipped with developable autonomous driving system, where one can customize the upper-level control algorithm. Based on the field experimental data, two new lower-level control models are developed and compared with two widely used ones. The comparison results show that the proposed models outperform the two previous models in capturing the observed actual acceleration, especially the troughs of the acceleration time series. Furthermore, theoretical analysis indicates that comparing with the proposed models, the two previous models significantly overestimate the stability region of the traffic flow of the AVs and the capacity of stable traffic flow. Our study is expected to further shed light on the importance of accurate lower-level control modeling.