Robust cooperative adaptive cruise control design and implementation for connected vehicles

2018 ◽  
Vol 12 (4) ◽  
pp. 469 ◽  
Author(s):  
Mark Trudgen ◽  
Rebecca Miller ◽  
Javad Mohammadpour Velni
Keyword(s):  
Adaptive Cruise Control ◽  
Control Design ◽  
Connected Vehicles ◽  
Cruise Control ◽  
Design And Implementation ◽  
Cooperative Adaptive Cruise Control

Cooperative Adaptive Cruise Control Design and Implementation

2019 ◽  
Author(s):  
Mustafa Ridvan Cantas ◽  
Sukru Yaren Gelbal ◽  
Levent Guvenc ◽  
Bilin Aksun Guvenc
Keyword(s):  
Adaptive Cruise Control ◽  
Control Design ◽  
Cruise Control ◽  
Design And Implementation ◽  
Cooperative Adaptive Cruise Control

scholarly journals Cooperative adaptive cruise control, design and experiments

2010 ◽  
Author(s):  
G Naus ◽  
R Vugts ◽  
J Ploeg ◽  
R van de Molengraft ◽  
M Steinbuch
Keyword(s):  
Adaptive Cruise Control ◽  
Control Design ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control

Eco-driving-based cooperative adaptive cruise control of connected vehicles platoon at signalized intersections

2021 ◽  
Vol 92 ◽  
pp. 102746
Author(s):  
Fangwu Ma ◽  
Yu Yang ◽  
Jiawei Wang ◽  
Xinchen Li ◽  
Guanpu Wu ◽  
...  
Keyword(s):  
Adaptive Cruise Control ◽  
Signalized Intersections ◽  
Connected Vehicles ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control

scholarly journals Control Design, Stability Analysis, and Traffic Flow Implications for Cooperative Adaptive Cruise Control Systems with Compensation of Communication Delay

2020 ◽  
Vol 2674 (8) ◽  
pp. 638-652
Author(s):  
Yu Zhang ◽  
Yu Bai ◽  
Jia Hu ◽  
Meng Wang
Keyword(s):  
Traffic Flow ◽  
Local Stability ◽  
Adaptive Cruise Control ◽  
Control Design ◽  
Communication Delay ◽  
Cruise Control ◽  
String Stability ◽  
Cooperative Adaptive Cruise Control ◽  
Time Gap ◽  
Traffic Flow Stability

Communication delay is detrimental to the performance of cooperative adaptive cruise control (CACC) systems. In this paper, we incorporate communication delay explicitly into control design and propose a delay-compensating CACC. In this new CACC system, the semi-constant time gap (Semi-CTG) policy, which is modified on the basis of the widely-used CTG policy, is employed by a linear feedback control law to regulate the spacing error. The semi-CTG policy uses historical information of the predecessor instead of its current information. By doing so, communication delay is fully compensated, which leads to better stability performance. Three stability properties—local stability, string stability, and traffic flow stability—are analyzed. The local stability and string stability of the proposed CACC system are guaranteed with the desired time gap as small as the communication delay. Both theoretical analysis and simulation results show that the delay-compensating CACC has better string stability and traffic flow stability than the widely-used CACC system. Furthermore, the proposed CACC system also shows the potential for improving traffic throughput and fuel efficiency. Robustness of the proposed system against uncertainties of sensor delay and vehicle dynamics is also verified with simulation.

Robust Cooperative Adaptive Cruise Control Design for Connected Vehicles

2015 ◽  
Author(s):  
Mark Trudgen ◽  
Javad Mohammadpour
Keyword(s):  
Traffic Congestion ◽  
Adaptive Cruise Control ◽  
Connected Vehicles ◽  
Cruise Control ◽  
String Stability ◽  
Reduction Techniques ◽  
Stability Robustness ◽  
Cooperative Adaptive Cruise Control ◽  
And Performance ◽  
Viable Approach

In this paper, we design and validate a robust H∞ controller for Cooperative Adaptive Cruise Control (CACC) in connected vehicles. CACC systems take advantage of onboard sensors and wireless technologies working together in order to achieve smaller inter-vehicle following distances, with the overall goal of increasing vehicle throughput on busy highways, and hence serving as a viable approach to reduce traffic congestion. A group of connected vehicles equipped with CACC technology must also ensure what is known as string stability. This requirement effectively dictates that disturbances should be attenuated as they propagate along the platoon of following vehicles. In order to guarantee string stability and to cope with the uncertainties seen in the vehicle model used for a model-based CACC, we propose to design and implement a robust H∞ controller. Loop shaping design methodology is used in this paper to achieve desired tracking characteristics in the presence of competing string stability, robustness and performance requirements. We then employ model reduction techniques to reduce the order of the controller and finally implement the reduced-order controller on a simulation model demonstrating the robust properties of the closed-loop system.

Smart Driving System for Improving Traffic Flow

2017 ◽  
Vol 7 (7) ◽  
pp. 236
Author(s):  
Rajesh Kumar Gupta ◽  
L. N. Padhy ◽  
Sanjay Kumar Padhi
Keyword(s):  
Traffic Flow ◽  
Traffic Congestion ◽  
Urban Areas ◽  
Adaptive Cruise Control ◽  
Human Perception ◽  
Cruise Control ◽  
Driving System ◽  
V2v Communication ◽  
Traffic Conditions ◽  
Cooperative Adaptive Cruise Control

Traffic congestion on road networks is one of the most significant problems that is faced in almost all urban areas. Driving under traffic congestion compels frequent idling, acceleration, and braking, which increase energy consumption and wear and tear on vehicles. By efficiently maneuvering vehicles, traffic flow can be improved. An Adaptive Cruise Control (ACC) system in a car automatically detects its leading vehicle and adjusts the headway by using both the throttle and the brake. Conventional ACC systems are not suitable in congested traffic conditions due to their response delay.  For this purpose, development of smart technologies that contribute to improved traffic flow, throughput and safety is needed. In today’s traffic, to achieve the safe inter-vehicle distance, improve safety, avoid congestion and the limited human perception of traffic conditions and human reaction characteristics constrains should be analyzed. In addition, erroneous human driving conditions may generate shockwaves in addition which causes traffic flow instabilities. In this paper to achieve inter-vehicle distance and improved throughput, we consider Cooperative Adaptive Cruise Control (CACC) system. CACC is then implemented in Smart Driving System. For better Performance, wireless communication is used to exchange Information of individual vehicle. By introducing vehicle to vehicle (V2V) communication and vehicle to roadside infrastructure (V2R) communications, the vehicle gets information not only from its previous and following vehicle but also from the vehicles in front of the previous Vehicle and following vehicle. This enables a vehicle to follow its predecessor at a closer distance under tighter control.

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