Dynamic predictor-based adaptive cruise control

We study the stabilization problem of a platoon of Adaptive Cruise Control (ACC) vehicles in the presence of input-delay. We use a dynamic predictor for input-delay compensation, a filtered version of the standard finite spectrum assignment method that overcomes robustness issues, in particular those raised by the approximation of distributed time-delay terms. Each vehicle must achieve the velocity of the preceding vehicle while ensuring a safe inter-vehicular distance established by a time headway-based spacing policy. To this end, a proportional-integral type controller combined with a dynamic predictor is added to each vehicle in the platoon that guarantees stability and zero steady-state error. String stability property of the closed-loop system, i.e., the platoon's ability to attenuate fluctuations arising in the motion of the leading vehicle, is analyzed using a frequency domain framework. The effectiveness of the proposed control scheme is illustrated with simulation results of a platoon of five vehicles. (C) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

Automated summary

We investigate the stabilization problem of an Adaptive Cruise Control (ACC) vehicle platoon with input-delay, proposing a dynamic predictor for input-delay compensation and addressing robustness issues. Each vehicle achieves velocity matching and safe inter-vehicular distance using a proportional-integral controller combined with a dynamic predictor. String stability of the closed-loop system, i.e., the ability to attenuate fluctuations, is analyzed in the frequency domain. Simulations of a platoon of five vehicles demonstrate the effectiveness of the proposed control scheme.