Connected Cruise Control Based on Adaptive Dynamic Programming Considering Inertial Delay

In this paper, we study the connected vehicular system, where the connected cruise control (CCC) vehicle is mixed into the flow of conventional vehicles, we assume all the vehicles can transmit motional information by vehicle-to-vehicle communication. Considering the inertial delay of the longitudinal vehicle dynamics for the multi-vehicle system, an optimal control problem is formulated to guarantee that the whole vehicles in the platooning drive at the same speed at the same time maintaining the desired headway between adjacent vehicles. By employing the adaptive dynamic programming (ADP) technology, an optimal controller is obtained for the CCC vehicle only relying on online state and input data. Numerical results illustrate that the inertial delay is very important for the control of a platoon system.