In this paper, we investigate a vehicular string traveling on a single lane, where vehicles use connected cruise control to regulate their longitudinal motion based on data received from other vehicles via wireless vehicle-to-vehicle communication. Assuming digital controllers, the sample-and-hold units introduce time-periodic time delays in the control loops and the delays increase when data packets are lost. We investigate the effect of packet losses on plant and string stability while varying the control gains and determine the minimum achievable time gap below which stability cannot be achieved. We propose two predictor feedback control strategies that overcome the destabilizing effect of the time delay caused by the sample-and-hold unit and packet losses.
Application of Predictor Feedback to Compensate Time Delays in Connected Cruise Control
IEEE Transactions on Intelligent Transportation Systems ; 19 , 2 ; 545-559
2018-02-01
2064215 byte
Article (Journal)
Electronic Resource
English
Predictor-Based Adaptive Cruise Control Design
IEEE | 2018
|Safety Guaranteed Connected Cruise Control
IEEE | 2018
|Lead/Lag Dynamics to Compensate for Display Delays
AIAA | 1980
|