Proceedings ArticleDOI
Design and experimental evaluation of cooperative adaptive cruise control
Jeroen Ploeg,Bart Theodoor Maria Scheepers,Ellen van Nunen,Nathan van de Wouw,Henk Nijmeijer +4 more
- pp 260-265
TLDR
Experiments clearly show that the practical results match the theoretical analysis, thereby indicating the possibilities for short-distance vehicle following, and validate the technical feasibility of the resulting control system.Abstract:
Road throughput can be increased by driving at small inter-vehicle time gaps. The amplification of velocity disturbances in upstream direction, however, poses limitations to the minimum feasible time gap. String-stable behavior is thus considered an essential requirement for the design of automatic distance control systems, which are needed to allow for safe driving at time gaps well below 1 s. Theoretical analysis reveals that this requirement can be met using wireless inter-vehicle communication to provide real-time information of the preceding vehicle, in addition to the information obtained by common Adaptive Cruise Control (ACC) sensors. In order to validate these theoretical results and to demonstrate the technical feasibility, the resulting control system, known as Cooperative ACC (CACC), is implemented on a test fleet consisting of six passenger vehicles. Experiments clearly show that the practical results match the theoretical analysis, thereby indicating the possibilities for short-distance vehicle following.read more
Citations
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Journal ArticleDOI
Cooperative Adaptive Cruise Control in Real Traffic Situations
Vicente Milanés,Steven E Shladover,John Spring,Christopher Nowakowski,Hiroshi Kawazoe,Masahide Nakamura +5 more
TL;DR: The design, development, implementation, and testing of a CACC system, which consists of two controllers, one to manage the approaching maneuver to the leading vehicle and the other to regulate car-following once the vehicle joins the platoon, is presented.
Journal ArticleDOI
Modeling cooperative and autonomous adaptive cruise control dynamic responses using experimental data
TL;DR: The Intelligent Driver Model (IDM) has been used for car-following modeling in this article to evaluate the performance of Adaptive Cruise Control (ACC) and Cooperative ACC (CACC) control systems.
Journal ArticleDOI
Lp String Stability of Cascaded Systems: Application to Vehicle Platooning
TL;DR: A novel definition for string stability of nonlinear cascaded systems is proposed, using input-output properties, and is shown to result in well-known string stability conditions for linear cascading systems.
Journal ArticleDOI
Controller Synthesis for String Stability of Vehicle Platoons
TL;DR: A controller design method is developed that allows for explicit inclusion of the string stability requirement in the controller synthesis specifications, and L2 string-stable platooning strategies are obtained in both cases, revealing that the two-vehicle look-ahead topology is particularly effective at a larger communication delay.
Journal ArticleDOI
A Review of Communication, Driver Characteristics, and Controls Aspects of Cooperative Adaptive Cruise Control (CACC)
Kakan Dey,Li Yan,Xujie Wang,Yue Wang,Haiying Shen,Mashrur Chowdhury,Lei Yu,Chenxi Qiu,Vivekgautham Soundararaj +8 more
TL;DR: The issues that existing CACC control modules face when considering close to ideal driving conditions are discussed, including how to keep drivers engaged in driving tasks during CACC operations.
References
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Journal ArticleDOI
The Impact of Cooperative Adaptive Cruise Control on Traffic-Flow Characteristics
TL;DR: The authors study the impacts of CACC for a highway-merging scenario from four to three lanes and show an improvement of traffic-flow stability and a slight increase in Trafficflow efficiency compared with the merging scenario without equipped vehicles.
Journal ArticleDOI
String stability of interconnected systems
D. Swaroop,J.K. Hedrick +1 more
TL;DR: The authors derive sufficient ("weak coupling") conditions which guarantee the asymptotic string stability of a class of interconnected systems and ensure that the states of all the subsystems are all uniformly bounded when a gradient-based parameter adaptation law is used.
Journal ArticleDOI
Research advances in intelligent collision avoidance and adaptive cruise control
Ardalan Vahidi,Azim Eskandarian +1 more
TL;DR: This paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation, and the impact of automation/warning systems on each of the above-mentioned factors.
Journal ArticleDOI
String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach
TL;DR: Implementation of the CACC system, the string-stability characteristics of the practical setup, and experimental results are discussed, indicating the advantages of the design over standard adaptive-cruise-control functionality.
Proceedings ArticleDOI
String stability of interconnected systems
D. Swaroop,J.K. Hedrick +1 more
TL;DR: In this paper, the authors introduced the notion of string stability of a countably infinite interconnection of a class of nonlinear systems and derived sufficient ("weak coupling") conditions that guarantee asymptotic string stability.