To improve the usability of cooperative adaptive cruise control (CACC) in the mixed traffic, a CACC algorithm with unconnected vehicle in the loop (CACCu) is proposed. Unlike the traditional CACC that requires a connected preceding vehicle or otherwise degrades to adaptive cruise control (ACC), CACCu aims to closely follow an unconnected preceding vehicle utilizing the information from the further (connected) preceding vehicle. Moreover, CACCu can robustly maintain string stability given various behaviors of unconnected preceding vehicles, without requiring identification process or extra information on the unconnected vehicles. For the sake of simplicity, this paper starts with CACCu in the three-vehicle sandwich scenario (i.e., one unconnected vehicle is in between of two connected vehicles), but derivatively, this control design is extended and evaluated in multiple-unconnected-vehicle cases. It is proven that by attaching a filter of “virtual preceding vehicle” to the original feedforward filter, the CACCu vehicle can stay string-stable at a gap significantly shorter than that required by ACC, given almost all kinds of car-following behaviors of the unconnected vehicle. At last, the favorable properties of CACCu are validated in high-fidelity simulations using real vehicle trajectory data and a physics-based vehicle dynamics model. The results show that CACCu outperforms existing ACC and acceleration-based connected cruise control (CCC) in string stability, ride comfort, safety maintenance, and fuel consumption.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Adaptive Cruise Control With Unconnected Vehicle in the Loop


    Beteiligte:


    Erscheinungsdatum :

    01.05.2022


    Format / Umfang :

    2328701 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooperative Adaptive Cruise Control

    Shladover, Steven E. / Nowakowski, Christopher / Lu, Xiao-Yun et al. | Transportation Research Record | 2015



    Adaptive and Cooperative Cruise Control

    Dr. Bu, Fanping / Dr. Chan, Ching-Yao | Springer Verlag | 2012


    EXTENDED COOPERATIVE ADAPTIVE CRUISE CONTROL

    Montanaro, U. / Tufo, M. / Fiengo, G. et al. | British Library Conference Proceedings | 2014


    Extended Cooperative Adaptive Cruise Control

    Montanaro, Umberto / Tufo, Manuela / Fiengo, Giovanni et al. | IEEE | 2014