Research on collaborative adaptive cruise control based on MPC and improved spacing policy
Fan Yang,
Hongliang Wang,
Dawei Pi
et al.
Abstract:A Cooperative Adaptive Cruise Control (CACC) algorithm based on Model Predictive Control (MPC) and an improved spacing policy is proposed in this study to address the current issues of low road utilization and inadequate dynamic regulation during platoon driving. First and foremost, the state of the leader vehicle and the minimum safe following distance are incorporated into the spacing policy to create an enhanced constant time headway (CTH) spacing policy. Secondly, following the MPC principle, the optimizat… Show more
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