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An improved cooperative adaptive cruise control (CACC) algorithm considering invalid communication

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Abstract

For the Cooperative Adaptive Cruise Control (CACC) Algorithm, existing research studies mainly focus on how inter-vehicle communication can be used to develop CACC controller, the influence of the communication delays and lags of the actuators to the string stability. However, whether the string stability can be guaranteed when inter-vehicle communication is invalid partially has hardly been considered. This paper presents an improved CACC algorithm based on the sliding mode control theory and analyses the range of CACC controller parameters to maintain string stability. A dynamic model of vehicle spacing deviation in a platoon is then established, and the string stability conditions under improved CACC are analyzed. Unlike the traditional CACC algorithms, the proposed algorithm can ensure the functionality of the CACC system even if inter-vehicle communication is partially invalid. Finally, this paper establishes a platoon of five vehicles to simulate the improved CACC algorithm in MATLAB/Simulink, and the simulation results demonstrate that the improved CACC algorithm can maintain the string stability of a CACC platoon through adjusting the controller parameters and enlarging the spacing to prevent accidents. With guaranteed string stability, the proposed CACC algorithm can prevent oscillation of vehicle spacing and reduce chain collision accidents under real-world circumstances. This research proposes an improved CACC algorithm, which can guarantee the string stability when inter-vehicle communication is invalid.

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Authors and Affiliations

  1. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China

    Pangwei Wang, Yunpeng Wang, Guizhen Yu & Tieqiao Tang

Authors
  1. Pangwei Wang
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  2. Yunpeng Wang
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  3. Guizhen Yu
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  4. Tieqiao Tang
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Corresponding authors

Correspondence to Pangwei Wang or Guizhen Yu.

Additional information

Supported by National Natural Science Foundation of China (Grant No. 61371076)

WANG Pangwei, born in 1982, is a PhD candidate at School of Transportation Science and Engineering, Beihang University, China. He received his master degree on control theory and control engineering from School of Information Engineering, Taiyuan University of Technology, China, in 2009. His research interests include cooperative vehicle infrastructure systems and safety control and intelligent transportation control.

WANG Yunpeng, born in 1966, is currently a professor and the dean of School of Transportation Science and Engineering, Beihang University, China, and he is also the director of Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, China, and he is currently the executive director of China Highway and Transportation Society, and he is a referee and editor of the 4th China Journal of Highway and Transport, China. He received his PhD degree from Jilin University, China, in 1997. His research interests include cooperative vehicle infrastructure systems and safety control, traffic planning and intelligent transportation control.

YU Guizhen, born in 1974, is currently an associate professor at Beihang University, China. He received his PhD degree from School of Mechanical Engineering, Jilin University, China, in 2003. His research interests include intelligent vehicle and security control technology, traffic control and simulation.

TANG Tieqiao, born in 1977, is currently an associate professor in Beihang University, China. He received his PhD degree from School of Transportation Science and Engineering, Beihang University, China, in 2006. His research interests include traffic behavior modeling and simulation, traffic safety and air traffic. He has published 48 papers indexed by SCI.

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Wang, P., Wang, Y., Yu, G. et al. An improved cooperative adaptive cruise control (CACC) algorithm considering invalid communication. Chin. J. Mech. Eng. 27, 468–474 (2014). https://doi.org/10.3901/CJME.2014.03.468

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  • DOI: https://doi.org/10.3901/CJME.2014.03.468

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