Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 17, Issue 6, Pages 1638-1651Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2015.2509782
Keywords
Wireless vehicle-to-vehicle (V2V) communication; connected cruise control; time delay; stability
Categories
Funding
- National Science Foundation [1351456]
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1351456] Funding Source: National Science Foundation
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In this paper, we investigate the effects of heterogeneous connectivity structures and information delays on the dynamics of connected vehicle systems (CVSs), which are composed of vehicles equipped with connected cruise control (CCC) as well as conventional vehicles. First, a general framework is presented for CCC design that incorporates information delays and allows a large variety of connectivity structures. Then, we present delay-dependent criteria for plant stability and head-to-tail string stability of CVSs. The stability conditions are visualized by using stability diagrams, which allow one to evaluate the robustness of vehicle networks against information delays. To achieve modular and scalable design of large networks, we also propose a motif-based approach. Our results demonstrate the advantages of CCC vehicles in improving traffic efficiency, but also show that increasing the penetration of CCC vehicles does not necessarily improve the robustness if the connectivity structure or the control gains are not appropriately designed.
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