A Robust Energy and Emissions Conscious Cruise Controller for Connected Vehicles with Privacy Considerations

While perturbation schemes for vehicle-to-vehicle (V2V) communications can address data privacy concerns, they can significantly compromise the performance of the speed controllers of connected automated vehicles (CAVs) if such controllers rely on the preview information available through V2V in car-following scenarios. This paper presents a robust predictive speed controller for a CAV when preview information is provided through a privacy-guaranteed V2V communication network. This is the first such controller that considers energy and emissions concurrently. The impact of privacy assurance in the communication data is studied, while inter-vehicular distance constraint is guaranteed to be satisfied through a robust design of the predictive controller using a robust control invariant set. The robust optimal speed controller is shown to reduce fuel consumption and emissions successfully while satisfying the constraints even in the presence of perturbations in the V2V communication. Results suggest a need for an integrated design procedure to achieve the best performance under a given level of privacy guarantee and emissions requirements.