Journal ArticleDOI
Practical String Stability of Platoon of Adaptive Cruise Control Vehicles
Lingyun Xiao,Feng Gao +1 more
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This paper provides a practical means to evaluate the ACC systems applying the sliding-mode controller and provides a reasonable proposal to design the ACC controller from the perspective of the practical string stability.Abstract:
In this paper, the practical string stability of both homogeneous and heterogeneous platoons of adaptive cruise control (ACC) vehicles, which apply the constant time headway spacing policy, is investigated by considering the parasitic time delays and lags of the actuators and sensors when building the vehicle longitudinal dynamics model. The proposed control law based on the sliding-mode controller can guarantee both homogeneous and heterogeneous string stability, if the control parameters and system parameters meet certain requirements. The analysis of the negative effect of the parasitic time delays and lags on the string stability indicates that the negative effect of the time delays is larger than that of the time lags. This paper provides a practical means to evaluate the ACC systems applying the sliding-mode controller and provides a reasonable proposal to design the ACC controller from the perspective of the practical string stability.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
Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies
TL;DR: Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion, and the stabilizing thresholds of linear controller gains for platoons are established under a large class of different information flow topologies.
Journal ArticleDOI
A Survey on Platoon-Based Vehicular Cyber-Physical Systems
TL;DR: The fundamental issues in a platoon-based VCPS are discussed, including vehicle platooning/clustering, cooperative adaptive cruise control, platoon- based vehicular communications, etc., all of which are characterized by the tightly coupled relationship between traffic dynamics and VANET behaviors.
Journal ArticleDOI
Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays
TL;DR: The platooning problem is analyzed and solved by treating it as the problem of achieving consensus in a network of dynamical systems affected by time-varying heterogeneous delays due to wireless communication among vehicles.
Journal ArticleDOI
Platooning With IVC-Enabled Autonomous Vehicles: Strategies to Mitigate Communication Delays, Improve Safety and Traffic Flow
Pedro Fernandes,Urbano Nunes +1 more
TL;DR: It is argued that using anticipatory information from both the platoon's leader and the followers significantly impacts platoon string stability, and it is suggested that the effects of communication delays may be almost completely canceled out.
References
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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.
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.
Autonomous intelligent cruise control
TL;DR: In this paper, an autonomous intelligent cruise control (AICC) system for automatic vehicle following, examine its effect on traffic flow and compare its performance with that of the human driver models.
Journal ArticleDOI
Autonomous intelligent cruise control
Petros Ioannou,C.C. Chien +1 more
TL;DR: The performance of the AICC system is found to be superior to that of the human driver models considered and has a faster and better transient response that leads to a much smoother and faster traffic flow.