String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach

Naus, Gerrit; Vugts, René P A; Ploeg, Jeroen; Molengraft, René van de; Steinbuch, M Maarten

doi:10.1109/tvt.2010.2076320

Cited by 741 publications

(452 citation statements)

References 24 publications

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“…For example, some typical control schemes for CDS include the cooperative adaptive cruise control (CACC) design (Naus et al, 2010) which adopts the constant time-headway policy with the predecessor-follower information, and the sliding-mode control (Fernandes, 2012) with the leader-follower information. Wan et al (2016) have investigated how connected vehicles can obtain and utilize upcoming traffic signal information to manage their speed in advance in order to reduce fuel consumption and improve ride comfort by reducing idling at red lights.…”

Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

221

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Recent developments of information and communication technologies (ICT) have enabled vehicles to timely communicate with each other through wireless technologies, which will form future (intelligent) traffic systems (ITS) consisting of so-called connected vehicles. Cooperative driving with the connected vehicles is regarded as a promising driving pattern to significantly improve transportation efficiency and traffic safety. Nevertheless, unreliable vehicular communications also introduce packet loss and transmission delay when vehicular kinetic information or control commands are disseminated among vehicles, which brings more challenges in the system modelling and optimization. Currently, no data has been yet available for the calibration and validation of a model for ITS, and most research has been only conducted for a theoretical point of view. Along this line, this paper focuses on the (theoretical) development of a more general (microscopic) traffic model which enables the cooperative driving behaviour via a so-called inter-vehicle communication (IVC). To this end, we design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together. More specifically, the IEEE 802.11p, the de-facto vehicular networking standard required to support ITS applications, is selected as the IVC protocols of the CDS, in order to investigate how the vehicular communications affect the features of intelligent traffic flow. This study essentially explores the relationship between IVC and cooperative driving, which can be exploited as the reference for the CDS optimization and design.

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Section: Introductionmentioning

confidence: 99%

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Jia

Ngoduy

2016

Transportation Research Part C: Emerging Technologies

221

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“…3) is a PD-based cooperative adaptive cruise controller (CACC) as the one in [21]. Its aim is to reduce the response time to different speed changes by using the communication link with its preceding vehicle.…”

Section: Longitudinal Dynamics Identificationmentioning

confidence: 99%

Youla-Kucera based online closed-loop identification for longitudinal vehicle dynamics

Navas

Milanés

Nashashibi

2017

2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

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Abstract-This paper deals with the identification of longitudinal dynamics of a cycab for subsequent control performance's improvement. Low-speed vehicle dynamic is used as physical model which non-linear behavior is highly complex to properly identify. Among several identification techniques, closed-loop identification gives better performance in a model-based control design. Here, the Hansen scheme is used to transform a closedloop identification problem in an open-loop-like. The algorihtm is tested in a string of two cycabs equipped with a proportionalderivative-based cooperative adaptive cruise controller, showing how the resulting model is improved in comparison with an openloop identification algorithm-ARX model.

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“…However, research into string stability has shown that ideal time headways are usually larger than the numbers that we found. For example, research on string stability by Naus et al [14] report on minimal time headways of 2.8s for ACC systems and 0.8s for CACC systems. These numbers are much bigger than our results for the safety controller.…”

Section: A Table Analysismentioning

confidence: 99%

“…Naus et al [14] thoroughly investigate the issue of string stability in platooning, with both ACC and CACC controllers. Their method includes several factors of delay in communication, but uncertainty of the information is not taken into account.…”

Section: Introductionmentioning

confidence: 99%

Approximating safe spacing policies for adaptive cruise control strategies

Willigen¹,

Schut²,

Kester³

2011

2011 IEEE Vehicular Networking Conference (VNC)

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Abstract-In the development of Cooperative Adaptive Cruise Control (CACC) systems, spacing policies are primarily developed for optimisation of string stability and traffic stability. However, the safety issue is hardly taken into account. Uncertainty in the communication network and sensor information makes deciding upon a safe minimal headway a non-trivial task. In this paper, we propose a model that is able to approximate the minimal safe time headway, given uncertainty of parameters with varying velocities. By simulating emergency stops, we use the difference in displacement of the cars and a desired maximum probability of a crash to approximate the minimum time headway that yields this probability of a crash. The resulting method is necessary for platooning, a major research development in vehicular networking systems.

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String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach

Cited by 741 publications

References 24 publications

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Youla-Kucera based online closed-loop identification for longitudinal vehicle dynamics

Approximating safe spacing policies for adaptive cruise control strategies

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