Robust model predictive cooperative adaptive cruise control subject to V2V impairments

Ellen van Nunen, Jan Verhaegh, Emilia Silvas, Elham Semsar-Kazerooni, Nathan van de Wouw

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

7 Citations (Scopus)
1 Downloads (Pure)


To improve traffic throughput, Cooperative Adaptive Cruise Control (CACC) has been proposed as a solution. The usage of Vehicle-to-Vehicle (V2V) communication enables short following distances, thereby increasing road capacity and fuel reduction (especially for trucks). Control designs for CACC use the wirelessly communicated intended acceleration of a preceding vehicle as a feedforward action in a following vehicle. This feedforward action may determine approximately 80% of the total control action. In case of a communication failure, this feedforward is no longer available, and a larger time gap is needed to ensure high performance and robustness in terms of stability and safety. However, such a larger time gap is not instantly realizable. Therefore, a CACC design is needed which is robust against intermittent communication failures. This paper proposes to share model-based predictions of the intended acceleration via V2V communication, which are stored in a buffer of the following vehicle. This buffer is used in case a packet dropout occurs. Further, since the communication frequency is lower than the frequency of the control-platform, this buffer is also used to virtually upgrade the communication frequency. The design has been tested in experimental vehicles and shows an increased control performance, also in periods of packet dropouts.

Original languageEnglish
Title of host publication2017 IEEE 20th International Conference on Intelligent Transportation Systems, ITSC 2017
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)978-1-5386-1526-3
ISBN (Print)978-1-5386-1527-0
Publication statusPublished - 14 Mar 2018
Event20th IEEE International Conference on Intelligent Transportation Systems (ITSC 2017) - Yokohama, Kanagawa, Japan
Duration: 16 Oct 201719 Oct 2017
Conference number: 20


Conference20th IEEE International Conference on Intelligent Transportation Systems (ITSC 2017)
Abbreviated titleITSC 2017
CityYokohama, Kanagawa


  • Cooperative Adaptive Cruise Control
  • Model Predictive Control
  • Packet loss
  • Vehicle-to-vehicle communication


Dive into the research topics of 'Robust model predictive cooperative adaptive cruise control subject to V2V impairments'. Together they form a unique fingerprint.

Cite this