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This paper presents a preview servo-loop speed control algorithm to achieve smooth, accurate, and computationally inexpensive speed tracking for connected automated vehicles (CAVs). Differing from methods neglecting the future road slope and target speed information, the proposed controller focuses on taking advantages of this accessible future information to achieve better speed tracking performance. It integrates the future slope and target speed into an augmented optimal control problem, by solving which we obtain the optimal control law in an analytical form. The brake/throttle control laws consist of five parts, i.e. , three feedback controls of system states and two feedforward items-preview of road slope and preview of target speed. This controller and its degenerate form, i.e. , a classic PID, are implemented and applied to our automated vehicle platform, a Hybrid Lincoln MKZ. Experimental results show three major benefits of the proposed control-lower speed tracking errors, more gentle operations, and smoother brake/throttle behaviors.
Xu et al. (Fri,) studied this question.
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