Connected Cruise Control Design Using Probabilistic Model Checking

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Title Connected Cruise Control Design Using Probabilistic Model Checking
Authors Jin I. Ge, Gabor Orosz and Richard M. Murray
Source Submitted, 2017 American Control Conference (ACC)
Abstract In this paper, we synthesize a robust connected cruise controller with performance guarantee using probabilis- tic model checking, for a vehicle that receives motion informa- tion from several vehicles ahead through wireless vehicle-to- vehicle communication. We model the car-following dynamics of the preceding vehicles as Markov chains and synthesize the connected cruise controller as a Markov decision process. We show through simulations that such a design is robust against imperfections in communication.
Type Conference paper
URL http://www.cds.caltech.edu/~murray/preprints/gom17-acc_s.pdf
Tag gom17-acc
ID 2016f
Funding
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