Cooperative Adaptive Cruise Control (CACC) systems uses wireless connectivity to guarantee string stability for platooning, which Adaptive Cruise Control (ACC) fails to provide. One of the constraints that hinders widespread adoption of CACC is that almost all developments and real validations have been done on strings of identical vehicles. This chapter summarizes the most recent efforts in the development of a generic control architecture that enables CACC on strings of vehicles of different makes/models/types, dynamics and powertrains. The developed hierarchical approach has demonstrated feasibility of CACC system on real vehicles, even at short time gaps. It is also robust in handling cut-in and cut-out maneuvers of other vehicles in public traffic.
Generic Cooperative Adaptive Cruise Control Architecture for Heterogeneous Strings of Vehicles
Lect.Notes Mobility
Automated Vehicles Symposium ; 2020 July 27, 2020 - July 30, 2020
2021-07-09
13 pages
Article/Chapter (Book)
Electronic Resource
English
Cooperative Adaptive Cruise Control (CACC) , String stability , Actuation mapping , Generic CACC , Low-level speed tracking , Linear Parameter Varying (LPV) , High-Level Gap Regulation , Passenger cars with different makes/models/types/powertrains , ℋ<sub>∞</sub> control Industries , Security Science and Technology , Engineering , Transportation Technology and Traffic Engineering , Robotics and Automation
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