Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 15, Issue 4, Pages 1527-1537Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2014.2302816
Keywords
Cooperative Adaptive Cruise Control (CACC); networked control systems (NCS); string stability
Categories
Funding
- High Tech Automotive Systems Program
- European 7th Framework Network of Excellence: Highly complex and networked control systems (HYCON2) [257462]
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In this paper, we consider a Cooperative Adaptive Cruise Control (CACC) system, which regulates intervehicle distances in a vehicle string, for achieving improved traffic flow stability and throughput. Improved performance can be achieved by utilizing information exchange between vehicles through wireless communication in addition to local sensor measurements. However, wireless communication introduces network-induced imperfections, such as transmission delays, due to the limited bandwidth of the network and the fact that multiple nodes are sharing the same medium. Therefore, we approach the design of a CACC system from a Networked Control System (NCS) perspective and present an NCS modeling framework that incorporates the effect of sampling, hold, and network delays that occur due to wireless communication and sampled-data implementation of the CACC controller over this wireless link. Based on this network-aware modeling approach, we develop a technique to study the so-called string stability property of the string, in which vehicles are inter-connected by a vehicle following control law and a constant time headway spacing policy. This analysis technique can be used to investigate tradeoffs between CACC performance (string stability) and network specifications (such as delays), which are essential in the multidisciplinary design of CACC controllers. Finally, we demonstrate the validity of the presented framework in practice by experiments performed with CACC-equipped prototype vehicles.
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