Highlights It avoids ACC degradation when communication with the preceding vehicle is lost. Communication unavailability with preceding is either intermittent or permanent. It uses 2 CACC controllers and V2V communication with a vehicle ahead. YK parameterization is used to guarantee a stable interpolation between controllers. The scalar factor in YK is designed to improve traffic flow, being string stable. The approach is adaptable for any type/number of preceding vehicles. Simulation results with preceding as: conventional vehicle, ACC, or several ACC. Simulation results are validated at INRIA’s low-speed experimental platform.
Abstract Cooperative Adaptive Cruise Control (CACC) provides significant traffic flow improvements when a vehicle-to-vehicle (V2V) communication link exists with the preceding vehicle, but it degrades to an Adaptive Cruise Control (ACC) when this communication link is no longer available. This degradation occurs even if the information from another V2V-equipped vehicle ahead (different to the preceding one) is still available. This paper presents a novel car-following control system–Advanced Cooperative Adaptive Cruise Control (ACACC)–that benefits from the existing communication with this vehicle ahead in the string, reducing inter-vehicle gap whereas keeping string stability. The proposed control structure provides a hybrid behaviour between two CACC controllers with different time gaps according to the string position of the vehicle with the V2V communication link available. An stable hybrid behavior between both controllers is ensured through the Youla-Kucera parameterization. Simulation and real experiments show the proper behaviour of the designed control algorithm and a good performance compared to existing ACC/CACC controllers.
Mixing V2V- and non-V2V-equipped vehicles in car following
Tramsportation Research, Part C: Emerging Technologies ; 108 ; 167-181
2019-08-29
15 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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