d-CACC for Vehicle Platoons Lacking Acceleration Signal

Employing onboard sensors and vehicle-to-vehicle wireless communication, cooperative adaptive cruise control (CACC) allows vehicles in a platoon to follow their predecessors with accuracy, resulting in enhanced traffic flow, safety, and comfort. On the other hand, CACC is sensitive to wireless commu...

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Bibliographic Details
Published inIEEE transactions on intelligent transportation systems Vol. 25; no. 8; pp. 9028 - 9038
Main Authors Silva de Abreu, Marcus Paulo, de Oliveira, Fulvia Stefany Silva, de Oliveira Souza, Fernando
Format Journal Article
LanguageEnglish
Published IEEE 01.08.2024
Subjects
Adaptive systems
Cooperative adaptive cruise control (CACC)
Cruise control
delayed feedback
Numerical stability
Safety
Stability criteria
string stability
Wireless communication
Wireless sensor networks
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Summary:Employing onboard sensors and vehicle-to-vehicle wireless communication, cooperative adaptive cruise control (CACC) allows vehicles in a platoon to follow their predecessors with accuracy, resulting in enhanced traffic flow, safety, and comfort. On the other hand, CACC is sensitive to wireless communication failure. In addressing the latter issue, this paper proposes a degraded CACC (d-CACC) that, in contrast with the CACC, does not require wireless communication, as so, it is not affected by communication failures. The proposed d-CACC is obtained by replacing the preceding vehicle acceleration in the CACC with an estimate obtained using backward derivative approximation. Resulting in a d-CACC since the host vehicles operate with degraded information compared to a traditional CACC system. The main advantages of the proposed d-CACC are the easy implementation, it does not require an extra algorithm for estimating the preceding vehicle acceleration; the error due to the acceleration estimative formula is taken into account in the control design mitigating unpredictable errors. Internal and string stability conditions are derived by frequency domain analysis methods. Then, in light of such stability conditions, an algorithm for the proposed d-CACC design is presented. The paper is concluded by showing simulated experiments that illustrate the effectiveness of the proposed d-CACC, considering also real-world implementation issues.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2024.3381577