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Published October 2018 | public
Journal Article

Connected cruise control among human-driven vehicles: Experiment-based parameter estimation and optimal control design

Abstract

In this paper, we consider connected cruise control design in mixed traffic flow where most vehicles are human-driven. We first propose a sweeping least square method to estimate in real time feedback gains and driver reaction time of human-driven vehicles around the connected automated vehicle. Then we propose an optimal connected cruise controller based on the mean dynamics of human driving behavior. We test the performance of both the estimation algorithm and the connected cruise control algorithm using experimental data. We demonstrate that by combining the proposed estimation algorithm and the optimal controller, the connected automated vehicle has significantly improved performance compared to a human-driven vehicle.

Additional Information

© 2018 Elsevier Ltd. Received 10 August 2017, Revised 23 July 2018, Accepted 23 July 2018, Available online 8 August 2018.

Additional details

Created:
August 22, 2023
Modified:
October 18, 2023