Padé approximation of delays in CACC-controlled string-stable platoons

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Abstract

Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing inter-vehicle wireless communications. The inherent communication time delay significantly limits the minimum intervehicle distance in view of string stability. Applying a Padé approximation leads to a model with a rational transfer function, which allows many control methods to compensate for this delay to a certain extent. Our objective is to find the lowest possible order of Padé approximations, which is sufficiently accurate in view of string stability. To this end, the minimum string-stable time gaps are chosen as the main criterion against which the quality of the Padé approximations is measured. The results indicate that it is feasible to apply a 2nd-order Padé approximation in the given CACC system.

Original languageEnglish
Title of host publicationAdvanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16
PublisherCRC Press/Balkema
Pages99-104
Number of pages6
ISBN (Print)9781315265285
Publication statusPublished - 1 Sep 2016
Event13th International Symposium on Advanced Vehicle Control (AVEC 2016) - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany
Duration: 13 Sep 201616 Sep 2016
Conference number: 13
http://www.avec16.com/

Conference

Conference13th International Symposium on Advanced Vehicle Control (AVEC 2016)
Abbreviated titleAVEC 2016
CountryGermany
CityMunich
Period13/09/1616/09/16
Internet address

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  • Cite this

    Xing, H., Ploeg, J., & Nijmeijer, H. (2016). Padé approximation of delays in CACC-controlled string-stable platoons. In Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16 (pp. 99-104). CRC Press/Balkema.