Journal
JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS
Volume 20, Issue 2, Pages 178-191Publisher
TAYLOR & FRANCIS INC
DOI: 10.1080/15472450.2015.1016023
Keywords
Intelligent Transportation Systems (ITS); Adaptive Cruise Control (ACC); Intelligent Vehicles; Cooperative Vehicles; Cooperative Adaptive Cruise Control (CACC)
Funding
- Nissan Motor Co. Ltd
- ME/Fulbright program
- Center for Automation and Robotics (CAR, UPM-CSIC)
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Cooperative adaptive cruise control (CACC) systems are a candidate to improve highway capacity by shortening headways and attenuating traffic disturbances. Although encouraging results have been obtained until now, a wide range of traffic circumstances has to be investigated in order to get reliable CACC systems driving on real roads. Among them, handling both vehicle-to-vehicle (V2V) communications-equipped and unequipped vehicles merging into the string of CACC vehicles is a commonly mentioned challenge. In this article, an algorithm for managing the transitions in response to cut-ins from V2V- or non-V2V-equipped vehicles is developed and tested using a string of four CACC vehicles. A CACC controller is implemented in four production Infiniti M56s vehicles and tested in real traffic, where non-V2V-equipped vehicles can cut in. The effects of a vehicle performing a cut-out are also investigated. Then responses to cut-ins by equipped and nonequipped vehicles are simulated for longer strings of vehicles using car-following models for both the production adaptive cruise control (ACC) system and the newly developed CACC controller. Results demonstrate that the CACC system is able to handle cut-in vehicles without causing major perturbations, while also reducing significantly the impact of this maneuver on the following vehicles, improving traffic flow.
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