Evaluating Efficiency of Connected and Autonomous Vehicles with Different Communication Topologies
Abstract
:1. Introduction
2. Problem Formulation
2.1. Communication Topologies
2.2. Individual CAV Dynamics
2.3. Distributed Controllers for CAVs
3. Performance Evaluation Measures
3.1. Evaluation Indicators
3.2. Solving Method
Algorithm 1. Calculate the fitness function. |
Inputs: All parameters named letter k in Equations (2)–(5) produced by DEA, Vehicle physical parameters. 1: while < do 2: for = 1, 2, ……, do 3: update , , based on , , within the constraints of (9) 4: if , break and return maximum number allowed by the computer 5: else continue and calculate the fuel consumption based on Equations (6) and (7) 6: end if 7: end for 8: for = 1, 2, ……, do 9: calculate 10: calculate 11: end for 12: end while Output: Sum of each CAV’s total fuel consumption divided by its travelled distance |
4. Numerical Results
5. Conclusions and Discussion
- (1)
- The solution computed by DEA is just not accurate. Due to the large number of controller parameters and the nonlinear objective function, it is not possible to obtain an analytical solution for these linear controllers, so the DEA is adopted in this paper. The DEA is a simple and efficient global optimization algorithm for complex nonlinear programming problems. At the same time, the DEA is one kind of heuristic algorithm, and it cannot go through all cases. So, the solution is not necessarily the best, and it could be a locally optimal solution. This difficult problem is not merely for the linear controller; other control schemes also cannot obtain the analytical solution by increasing the information;
- (2)
- The simulation scenario or optimized objective function was designed inappropriately. Although there is only one simulation scenario and one optimized objective function shown in this paper, the optimized objective function with consideration of tracking error, fuel consumption, and traffic efficiency, as well as some other scenarios, has been tested by the authors. It cannot be found that more information is helpful for CAVs driving in a platoon with those linear controllers;
- (3)
- Event-triggered control schemes may be suitable for CAVs with complete information. The simulation results show that the PLF communication topology obtained the best performance index among them, followed by the TPLF communication topology. Both of them share one trait: all following CAVs can receive the leading CAV’s information, which is affected by preloaded commands. So, the CAV driving in a platoon should consider the velocity difference and gap between itself and its predecessor. In most cases, and in some special cases, other CAVs could be awakened by an event trigger, which can also reduce the communication burden.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Coefficient | Value | Unit | Coefficient | Value | Unit |
---|---|---|---|---|---|
0.1 | |||||
5 | |||||
7 | |||||
0 | |||||
30 | |||||
−4 | |||||
0.2 | 3 |
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Liu, H.; Gong, L.; Chen, X.; Zheng, X.; Lv, C. Evaluating Efficiency of Connected and Autonomous Vehicles with Different Communication Topologies. Electronics 2023, 12, 3584. https://doi.org/10.3390/electronics12173584
Liu H, Gong L, Chen X, Zheng X, Lv C. Evaluating Efficiency of Connected and Autonomous Vehicles with Different Communication Topologies. Electronics. 2023; 12(17):3584. https://doi.org/10.3390/electronics12173584
Chicago/Turabian StyleLiu, Hui, Lian Gong, Xing Chen, Xunjia Zheng, and Cheng Lv. 2023. "Evaluating Efficiency of Connected and Autonomous Vehicles with Different Communication Topologies" Electronics 12, no. 17: 3584. https://doi.org/10.3390/electronics12173584
APA StyleLiu, H., Gong, L., Chen, X., Zheng, X., & Lv, C. (2023). Evaluating Efficiency of Connected and Autonomous Vehicles with Different Communication Topologies. Electronics, 12(17), 3584. https://doi.org/10.3390/electronics12173584