Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays

Redmer de Haan; Tom van der Sande; Erjen Lefeber

doi:10.1007/978-3-031-70392-8_31

Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays

Redmer de Haan (Corresponding author), Tom van der Sande, Erjen Lefeber

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle’s acceleration and compensating the ego vehicle’s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle’s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.

Original language	English
Title of host publication	16th International Symposium on Advanced Vehicle Control
Subtitle of host publication	Proceedings of AVEC’24 – Society of Automotive Engineers of Japan
Editors	Giampiero Mastinu, Francesco Braghin, Federico Cheli, Matteo Corno, Sergio M. Savaresi
Place of Publication	Cham
Publisher	Springer
Pages	214-220
Number of pages	7
ISBN (Electronic)	978-3-031-70392-8
ISBN (Print)	978-3-031-70391-1, 978-3-031-70394-2
DOIs	https://doi.org/10.1007/978-3-031-70392-8_31
Publication status	Published - 4 Oct 2024
Event	16th International Symposium on Advanced Vehicle Control, AVEC 2024 - Milan, Italy Duration: 2 Sept 2024 → 6 Sept 2024

Publication series

Name	Lecture Notes in Mechanical Engineering (LNME)
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	16th International Symposium on Advanced Vehicle Control, AVEC 2024
Country/Territory	Italy
City	Milan
Period	2/09/24 → 6/09/24

Keywords

Cooperative Adaptive Cruise Control
Delay
Prediction

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10.1007/978-3-031-70392-8_31

pdfFinal published version, 389 KBLicence: CC BY

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de Haan, R., van der Sande, T., & Lefeber, E. (2024). Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays. In G. Mastinu, F. Braghin, F. Cheli, M. Corno, & S. M. Savaresi (Eds.), 16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan (pp. 214-220). (Lecture Notes in Mechanical Engineering (LNME)). Springer. https://doi.org/10.1007/978-3-031-70392-8_31

de Haan, Redmer ; van der Sande, Tom ; Lefeber, Erjen. / Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays. 16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan. editor / Giampiero Mastinu ; Francesco Braghin ; Federico Cheli ; Matteo Corno ; Sergio M. Savaresi. Cham : Springer, 2024. pp. 214-220 (Lecture Notes in Mechanical Engineering (LNME)).

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abstract = "We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle{\textquoteright}s acceleration and compensating the ego vehicle{\textquoteright}s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle{\textquoteright}s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.",

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booktitle = "16th International Symposium on Advanced Vehicle Control",

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de Haan, R , van der Sande, T & Lefeber, E 2024, Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays. in G Mastinu, F Braghin, F Cheli, M Corno & SM Savaresi (eds), 16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan. Lecture Notes in Mechanical Engineering (LNME), Springer, Cham, pp. 214-220, 16th International Symposium on Advanced Vehicle Control, AVEC 2024, Milan, Italy, 2/09/24. https://doi.org/10.1007/978-3-031-70392-8_31

Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays. / de Haan, Redmer (Corresponding author); van der Sande, Tom ; Lefeber, Erjen.
16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan. ed. / Giampiero Mastinu; Francesco Braghin; Federico Cheli; Matteo Corno; Sergio M. Savaresi. Cham: Springer, 2024. p. 214-220 (Lecture Notes in Mechanical Engineering (LNME)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle’s acceleration and compensating the ego vehicle’s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle’s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.

AB - We present a prediction based controller for heterogeneous platoons with actuation delay. By using a prediction of the ego vehicle’s acceleration and compensating the ego vehicle’s influence on the error dynamics, we obtain a controller that achieves input-to-state stability (ISS) with respect to the preceding vehicle’s acceleration. The result is a controller that does not require driveline information of the preceding vehicle, which enables platooning in a heterogeneous setting. An analysis is presented of the string stability properties of the system with both actuation and communication delays. The effectiveness of the controller is shown in simulation.

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de Haan R , van der Sande T , Lefeber E. Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays. In Mastinu G, Braghin F, Cheli F, Corno M, Savaresi SM, editors, 16th International Symposium on Advanced Vehicle Control: Proceedings of AVEC’24 – Society of Automotive Engineers of Japan. Cham: Springer. 2024. p. 214-220. (Lecture Notes in Mechanical Engineering (LNME)). doi: 10.1007/978-3-031-70392-8_31

Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays

Abstract

Publication series

Conference

Keywords

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AVEC '24 Best Paper Award

Cite this

Prediction Based Cooperative Adaptive Cruise Control for Heterogeneous Platoons with Delays

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Prizes

AVEC '24 Best Paper Award

Cite this