Robust model predictive cooperative adaptive cruise control subject to V2V impairments

A Hybrid Framework Combining Vehicle System Knowledge with Machine Learning Methods for Improved Highway Trajectory Prediction

“…1. As shown in [5], the hybridization of PB and DB approaches can benefit for short prediction horizons, N ∈ (0, 1) seconds, from the accuracy of the known vehicle dynamics, and for longer prediction horizons, N ∈ [1,3] seconds, from the complexity that DB models can capture. Following the same reasoning, to make our hybrid, we first choose suitable PB and DB components.…”

“…smaller time gaps, and any other vehicle interfering with the string of vehicles can pose a threat to the safety of the platoon. Detecting a cutin late can lead to harsh braking and driver discomfort, or even to unsafe situations [1]. Although the need of having trajectory prediction algorithms has been acknowledged [4], so far no definitions exist of what is a good prediction error for an automated vehicle to react safely and comfortably to other vehicles.…”

“…Cooperative Adaptive Cruise Control (CACC) is an extension of Adaptive Cruise Control that uses vehicle-to-vehicle (V2V) communication to share intentions and form a platoon of vehicles that can drive safely and save driver efforts [1]. Having V2V communication allows one to be immediately aware of the preceding vehicle's intentions, and has benefits such as avoiding ghost traffic jams, reducing CO 2 emissions, and enabling higher traffic throughput on the same infrastructure [2].…”

Mixing V2V- and non-V2V-equipped vehicles in car following

“…Van et Al. [13] used a buffer in order to store the communication with the preceding vehicle for a period of time. This buffer is combined with the vehicle model to provide robustness when intermittent communication failures occur.…”

“…To the best of author knowledge, former CACC working with V2V degradation study either the minimum time gap to guarantee stability according to the V2V lost, switch between CACC and ACC when the V2V link is lost [11] [12], use prediction for short period of V2V degradation [13] [14], or give control guidelines (and use communication with a vehicle further on the string) to be able to perform in a mode close to CACC for a longer period of time of degradation, but with all vehicles behaving as CACC [15]. This paper proposes a novel solution when the V2V link with the preceding vehicles is lost without degrading vehicle performance to an ACC.…”