Graceful Degradation of CACC Performance Subject to Unreliable Wireless Communication

J. Ploeg, E. Semsar-Kazerooni, G. Lijster, N. Wouw, van de, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

62 Citations (Scopus)
1 Downloads (Pure)


Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as packet loss, in which case it would effectively degrade to conventional Adaptive Cruise Control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. Therefore, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed to partially maintain the string stability properties of CACC. This strategy is based on estimating the preceding vehicle's information, here acceleration, using the onboard sensors. Whenever needed, this estimated acceleration can be used as an alternative to the desired acceleration transmitted through wireless communication for this type of CACC. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared to the situation in which ACC is used as a fallback scenario.
Original languageEnglish
Title of host publicationProceedings of the 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013), 6-9 october 2013, The Hague, The Netherlands
Place of PublicationThe Hague
PublisherInstitute of Electrical and Electronics Engineers
Publication statusPublished - 2013


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