LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning

Nakai, Ryota; Hashimoto, Kazumune; Shen, Xun; Takai, Shigemasa

doi:https://doi.org/10.1049/itr2.70151

LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning

Nakai, Ryota; Hashimoto, Kazumune; Shen, Xun et al.

IET Intelligent Transport Systems, 2026, 20(1), e70151

アクセス数:3件（2026-04-04 09:35 集計）

固定URL: https://hdl.handle.net/11094/104244

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タイトル	LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning
著者	著者名 Nakai, Ryota
	NRID 1000060883361 1000060883361 researchmap permalink kazumunehashimoto kazumunehashimoto Scopus Author ID 56449825300 56449825300 著者名 Hashimoto, Kazumune
	NRID 1000090823378 1000090823378 著者名 Shen, Xun
	NRID 1000060243177 1000060243177 ORCID 0000-0003-0165-4623 0000-0003-0165-4623 researchmap permalink read0014096 read0014096 Scopus Author ID 7201470914 7201470914 著者名 Takai, Shigemasa
キーワード等	long short-term memory
	optimal control
	platoon control
	string stability
内容	Nakai R., Hashimoto K., Shen X., et al. LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning. IET Intelligent Transport Systems 20, e70151 (2026); https://doi.org/10.1049/itr2.70151.
抄録	Cooperative adaptive cruise control, also known as vehicular platooning, has gained significant interest for its ability to enhance fuel efficiency and comfort in vehicle operations. This study proposes novel control strategies for vehicular platooning based on long short-term memory (LSTM) neural networks. By learning temporal dependencies in vehicle behaviour, the proposed LSTM-based controllers improve string stability within the platoon, particularly under varying velocity patterns of the lead vehicle. Two distinct frameworks are investigated: centralized and decentralized control models. The centralized model makes use of the states of all vehicles within the platoon, whereas the decentralized model focuses on the states of only a limited number of preceding vehicles. Simulation experiments demonstrate that both the centralized and decentralized LSTM controllers significantly outperform traditional, non-LSTM-based controllers in minimizing cumulative inter-vehicle error. This study contributes a novel controller training methodology that integrates LSTM-based architectures with optimal control principles, offering improved adaptability and flexibility in real-time platoon management.
出版者	John Wiley and Sons Inc
収録物名	IET Intelligent Transport Systems
巻(号)	20(1)
ページ	e70151
刊行年月	2026-01-20
言語	英語
ハンドルURL	https://hdl.handle.net/11094/104244
PISSN	1751956X
eISSN	17519578
関連情報 (isIdenticalTo)	DOI (出版社版) https://doi.org/10.1049/itr2.70151
アクセス権	open access
権利情報	This article is licensed under a Creative Commons Attribution 4.0 International License.
出版タイプ	Version of Record
カテゴリ	学術雑誌論文 Journal Article

資源タイプ	学術雑誌論文
ローカル資源タイプ	学術雑誌論文
DCMI資源タイプ	text
DCTERMS.bibliographicCitation	IET Intelligent Transport Systems. 2026, 20(1), p. e70151
DC.title	LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning
DC.creator	Nakai, Ryota
	Hashimoto, Kazumune
	Shen, Xun
	Takai, Shigemasa
DC.publisher	John Wiley and Sons Inc
DC.language' scheme='DCTERMS.RFC1766	英語
DC.type' scheme='DCTERMS.DCMIType	text
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2026-01-20
DC.identifier	https://doi.org/10.1049/itr2.70151
DC.subject	long short-term memory
	optimal control
	platoon control
	string stability
DC.description	Nakai R., Hashimoto K., Shen X., et al. LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning. IET Intelligent Transport Systems 20, e70151 (2026); https://doi.org/10.1049/itr2.70151.
DCTERMS.abstract	Cooperative adaptive cruise control, also known as vehicular platooning, has gained significant interest for its ability to enhance fuel efficiency and comfort in vehicle operations. This study proposes novel control strategies for vehicular platooning based on long short-term memory (LSTM) neural networks. By learning temporal dependencies in vehicle behaviour, the proposed LSTM-based controllers improve string stability within the platoon, particularly under varying velocity patterns of the lead vehicle. Two distinct frameworks are investigated: centralized and decentralized control models. The centralized model makes use of the states of all vehicles within the platoon, whereas the decentralized model focuses on the states of only a limited number of preceding vehicles. Simulation experiments demonstrate that both the centralized and decentralized LSTM controllers significantly outperform traditional, non-LSTM-based controllers in minimizing cumulative inter-vehicle error. This study contributes a novel controller training methodology that integrates LSTM-based architectures with optimal control principles, offering improved adaptability and flexibility in real-time platoon management.
DC.rights	This article is licensed under a Creative Commons Attribution 4.0 International License.
DC.format	104244
citation_title	LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning
citation_author	Nakai, Ryota
	Hashimoto, Kazumune
	Shen, Xun
	Takai, Shigemasa
citation_publisher	John Wiley and Sons Inc
citation_language	英語
citation_date	2026-01-20
citation_journal_title	IET Intelligent Transport Systems
citation_volume	20
citation_issue	1
citation_firstpage	e70151
citation_doi	https://doi.org/10.1049/itr2.70151
citation_public_url	https://hdl.handle.net/11094/104244

LSTM-Based Centralized/Decentralized Controller Design for Vehicular Platooning

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