Networked predictive control method of multi-vehicle cooperative control at communication-constrained unsignalized multi-intersection

To reduce the degradation of multi-vehicle cooperative control performance for connected and automated vehicles caused by time-varying communication delays when the edge-cloud is used for centralized control through the vehicle to infrastructure communication, and further improve the traffic efficiency based on driving safety at unsignalized multi-intersection. A networked predictive control method based on an improved model-free adaptive predictive control method and multi-intersection distributed cooperative control scheme is proposed to realize the multi-vehicle cooperative control under the conditions of time-varying communication delays at an unsignalized multi-intersection system, including multi-intersection edge-cloud networked predictive control layer and multi-vehicle car-following control layer. The control objective can be calculated by the moving horizon prediction control scheme based on compact form dynamic linearization technology through the edge computing controller, and then assigns the anticipated speed to each target vehicle entering the intersection subsystem based on decoupling the unsignalized multi-intersection system into the multiple networked control intersection subsystems. The extensive numerical simulation results confirmed the benefits of the proposed scheme compared to the benchmark methods.