About string stability of a vehicle chain with unidirectional controller

Farnam, Arash; Sarlette, Alain

doi:10.1016/j.ejcon.2019.03.002

Cited by 10 publications

(4 citation statements)

References 23 publications

(51 reference statements)

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“…The computation load of the CSP is low, and it provides high traffic capacity if a small L is chosen [54]. Specifically, it is suggested in [42], [43] that the value of L be chosen as 1 m. However, it has been proven that when linear controllers are used, the CSP cannot guarantee string stability [55]- [58]. It is claimed in [59] that the unstable platoon is not only likely to provide poor ride quality but also could result in collisions.…”

Section: A Constant Spacing Policymentioning

confidence: 99%

Spacing Policies for Adaptive Cruise Control: A Survey

Liu

et al. 2020

IEEE Access

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Adaptive cruise control (ACC) systems are designed to provide longitudinal assistance for drivers to enhance safety and reduce workload. As the core of all ACC control algorithms, the spacing policy plays a crucial role in various aspects. This paper presents a comprehensive survey on spacing policies for existing ACC solutions in the literature. The objectives of this paper are to clarify the operating mechanisms and characteristics of the common spacing policies, and to reveal their advantages and shortcomings by means of a comparative study. In this survey, the general evaluation criteria for spacing policies are first introduced. Then, the existing spacing policies are categorized into different types according to their operating mechanisms, and their characteristics are carefully reviewed and explained. A comparative study is followed to analyze the performances of five typical spacing policies in the literature, including the constant spacing policy, constant time headway, traffic flow stability, constant safety factor and human driving behavior spacing policies. The contents provided in this paper serve as a tool for understanding current ACC spacing policies, and pave the way for future ACC enhancement.INDEX TERMS Adaptive cruise control, spacing policy, traffic flow stability, string stability, time headway.

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Section: A Constant Spacing Policymentioning

confidence: 99%

Spacing Policies for Adaptive Cruise Control: A Survey

Liu

et al. 2020

IEEE Access

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“…In Kianfar et al [20], if the constraints were not activated, the control matching algorithm was used to achieve the string stability of vehicle platoons. Arash and Alaine [21] analyzed the string stability problem of CACC‐based vehicle platoons by adopting onboard sensors and local inter‐vehicular communication. Then they used integral control to achieve the robust string stability of vehicle platoons.…”

Section: Introductionmentioning

confidence: 99%

Data‐iteration cooperative adaptive cruise control of mixed heterogeneous vehicle platoons with unknown dynamic characteristics

Song

Dong

Feng

et al. 2022

Asian Journal of Control

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This paper considers the cooperative adaptive cruise control (CACC) problem of mixed heterogeneous vehicle platoons composed of human‐driven and CACC vehicles with unknown dynamic characteristics and an alternative to CACC for platooning of the heterogeneous vehicle platoon is presented. Adaptive dynamic programming is firstly used to learn the dynamic characteristics of acceleration of vehicles from the sampled data. Then the data‐iteration optimal CACC controller is computed to ensure that each CACC vehicle can reach a desired inter‐vehicle distance and desired common velocity with no prior knowledge of the dynamics of vehicles in the mixed platoon. Moreover, the string stability of the mixed vehicle platoon is derived by establishing some sufficient conditions on the acceleration transfer function of adjacent vehicles. Two simulation experiments of a six‐vehicle mixed platoon are used to illustrate the effectiveness of the proposed CACC method.

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“…The previous studies on stability analysis and control design of VP are categorized from several aspects of views. (1) Internal stability analysis (Chehardoli and Ghasemi, 2018, 2019), (2) string stability analysis (Wang and Nijmeijer, 2015), (3) linear control approaches (Peters et al, 2014; Seiler et al, 2004), (4) nonlinear control techniques (Chehardoli and Ghasemi, 2018; Kwon and Chwa, 2014), (5) scalability analysis (Knorn et al, 2015; Zheng et al, 2016a), (6) time delay analysis (Chehardoli and Ghasemi, 2019; Salvi, 2014), (7) safety analysis (Cook, 2007; Younes and Boukerche, 2019), (8) homogeneous and heterogeneous platoons (Gao et al, 2016; Peters et al, 2014), (9) network structure: unidirectional (Farnam and Sarlette, 2019), bidirectional (Knorn et al, 2015), multi-ahead vehicles following (Chehardoli and Homaeinezhad, 2018a) and complex topology (Li et al, 2017) and (10) optimal performance (Herman and Sebek, 2016).…”

Section: Introductionmentioning

confidence: 99%

Robust optimal control and identification of adaptive cruise control systems in the presence of time delay and parameter uncertainties

Chehardoli

2020

Journal of Vibration and Control

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This article deals with the robust optimal control and identification of uncertain adaptive cruise control systems. Both measurement delay and engine’s lag are investigated in system modeling and control design. The control structure consists of two steps. In the first step, by using a new approach, the uncertain parameters of longitudinal dynamics of each vehicle is identified. Afterwards, at the second step, by using the relative position and velocity measurement with respect to ahead vehicle, a robust control against size changing of platoon is presented to assure the internal stability, string stability, and safety of heterogeneous vehicular platoons. A cost function involving important metrics internal stability, maximum overshoot, and settling time is introduced, and the particle swarm optimization algorithm is used to find the optimal values of control parameters minimizing the cost function. It will be shown that the proposed robust controller guarantees the internal stability, string stability, and safety of adaptive cruise control systems in the presence of measurement and parasitic delays. Several simulation results are provided to show the effectiveness of the proposed approaches.

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About string stability of a vehicle chain with unidirectional controller

Cited by 10 publications

References 23 publications

Spacing Policies for Adaptive Cruise Control: A Survey

Spacing Policies for Adaptive Cruise Control: A Survey

Data‐iteration cooperative adaptive cruise control of mixed heterogeneous vehicle platoons with unknown dynamic characteristics

Robust optimal control and identification of adaptive cruise control systems in the presence of time delay and parameter uncertainties

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