Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 18, Issue 12, Pages 3486-3500Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2017.2738446
Keywords
Cooperative adaptive cruise control (CACC); event-triggered control; string stability; networked control systems; vehicle-to-vehicle (V2V) communication; vehicle platoon
Categories
Funding
- NWO-TTW Project Integrated design approach for safety-critical real-time automotive systems [12698]
- Innovational Research Incentives Scheme Wireless control systems: A new frontier in automation - NWO (The Netherlands Organisation for Scientific Research)
- Innovational Research Incentives Scheme Wireless control systems: A new frontier in automation - NWO-TTW (Dutch Technology Foundation) under VICI Grant [11382]
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Cooperative adaptive cruise control (CACC) is a promising technology that is proven to enable the formation of vehicle platoons with small inter-vehicle distances, while avoiding amplifications of disturbances along the vehicle string. As such, CACC systems can potentially improve road safety, traffic throughput and fuel consumption due to the reduction in aerodynamic drag. Dedicated short range communication (DSRC) is a key ingredient in CACC systems to overcome the limitations of onboard sensors. However, wireless communication also involves inevitable network-induced imperfections, such as a limited communication bandwidth and time-varying transmission delays. Moreover, excessive utilization of communication resources jeopardizes the reliability of the DSRC channel. The latter might restrict the minimum time gap that can be realized safely. As a consequence, to harvest all the benefits of CACC, it is important to limit the communication to only the information that is actually required to establish a (string-) stable platoon over the wireless network and to avoid unnecessary transmissions. For this reason, an event-triggered control scheme and communication strategy is developed that takes into account the aforementioned network-induced imperfections and that aims to reduce the utilization of communication resources, while maintaining the desired closed-loop performance properties. The resulting L2 string-stable control strategy is experimentally validated by means of a platoon of three passenger vehicles.
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