Optimal Control Design for Connected Cruise Control with Edge Computing, Caching, and Control

Abstract

As an advanced driver assistance system (ADAS), connected cruise control (CCC), which is able to significantly improve vehicle’s reliability, stability, and safety, is currently under extensive investigation. In the CCC system, V2V communication plays a key role in sharing a large amount of reliable information among vehicles. In this paper, considering the communication delays, an optimal control design is proposed for the CCC system with edge controllers having the capability of computing, caching, and control. First, the dynamics of each vehicle in the platoon is modeled in detail, and then a linear quadratic optimization problem is formulated when the sampling period and the communication delay are considered. In order to minimize the deviations of vehicle’s headway and velocity, the optimal control strategy is iteratively solved using a backwards recursion. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed algorithm.