Thisstudy is focused on the design of cooperative adaptive cruise control (CACC) to regulate the longitudinal motion of connected and automated vehicles (CAVs) in mixed traffic that is composed of human‐driven vehicles and CAVs. Wireless vehicle‐to‐vehicle communication is exploited to monitor the motion of multiple broadcasting vehicles, and a strategy is designed to determine whether the received data of other vehicles are incorporated into CACC. A condition is derived for choosing control gains that ensure the internal stability of CAVs in the presence of time delays and switching connectivity topologies of information flow. Moreover, because the switching connectivity topologies may change the dynamics of the whole vehicle chain, the authors apply a data‐driven approach for online optimisation of control gains such that CACC adapts to the variations of connectivity topologies. The proposed selective CACC is validated through numerical simulations. To enhance the fidelity of simulations, they use the data collected through on‐road experiments to simulate the motion of human‐driven vehicles and apply the physics‐based vehicle dynamic model to simulate the motion of CAVs. Simulation results demonstrate the advantages of the proposed selective CACC in improving vehicle safety and in mitigating perturbations in mixed traffic.
Cooperative adaptive cruise control in mixed traffic with selective use of vehicle‐to‐vehicle communication
IET Intelligent Transport Systems ; 12 , 10 ; 1243-1254
01.12.2018
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
received data , connected and automated vehicles , selective CACC , information flow , wireless vehicle‐to‐vehicle communication , data collection , road safety , multiple broadcasting vehicles , numerical simulations , longitudinal motion regulation , on‐road experiments , control system synthesis , vehicle safety , internal stability , human‐driven vehicles , stability , data‐driven approach , vehicle dynamics , online optimisation , time delays , road vehicles , motion control , mixed traffic , cooperative adaptive cruise control design , CAVs , physics‐based vehicle dynamic model , vehicular ad hoc networks , control gains , road traffic control , vehicle chain dynamics , adaptive control , switching connectivity topologies , velocity control , motion simulation , cooperative systems
IET | 2018
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