String stable model predictive cooperative adaptive cruise control for heterogeneous platoons

E van Nunen (Corresponding author), J.M.F. Reinders, Elham Semsar-Kazerooni, N. van de Wouw

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Abstract

Cooperative Adaptive Cruise Control (CACC) is a potential solution to decrease traffic jams caused by shock waves, increase the road capacity, decrease fuel consumption and improve safety. This paper proposes an integrated solution to a combination of four challenges in these CACC systems. One of the technological challenges is how to guarantee string stability (the ability to avoid amplification of dynamic vehicle responses along the string of vehicles) under nominal operational conditions. The second challenge is how to apply this solution to heterogeneous vehicles. The third challenge is how to maintain confidentiality of the vehicle parameters. Finally, the fourth challenge is to find a method which improves robustness against wireless packet loss. This paper proposes a model predictive control approach in combination with a feed-forward control design, which is based on a shared vector of predicted accelerations over a finite time horizon. This approach is shown to be applicable to a heterogeneous sequence of vehicles, while the vehicle parameters remain confidential. In previous work such an approach has shown to increase robustness against packet losses. Conditions for string stability are presented for the nominal operational conditions. Experimental results are presented and indeed demonstrate string stable behavior.
Original languageEnglish
Pages (from-to)186-196
JournalIEEE Transactions on Intelligent Transportation Systems
Volume4
Issue number2
DOIs
Publication statusPublished - 20 Mar 2019

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Adaptive cruise control
Packet loss
Feedforward control
Model predictive control
Fuel consumption
Shock waves
Amplification
Control systems

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title = "String stable model predictive cooperative adaptive cruise control for heterogeneous platoons",
abstract = "Cooperative Adaptive Cruise Control (CACC) is a potential solution to decrease traffic jams caused by shock waves, increase the road capacity, decrease fuel consumption and improve safety. This paper proposes an integrated solution to a combination of four challenges in these CACC systems. One of the technological challenges is how to guarantee string stability (the ability to avoid amplification of dynamic vehicle responses along the string of vehicles) under nominal operational conditions. The second challenge is how to apply this solution to heterogeneous vehicles. The third challenge is how to maintain confidentiality of the vehicle parameters. Finally, the fourth challenge is to find a method which improves robustness against wireless packet loss. This paper proposes a model predictive control approach in combination with a feed-forward control design, which is based on a shared vector of predicted accelerations over a finite time horizon. This approach is shown to be applicable to a heterogeneous sequence of vehicles, while the vehicle parameters remain confidential. In previous work such an approach has shown to increase robustness against packet losses. Conditions for string stability are presented for the nominal operational conditions. Experimental results are presented and indeed demonstrate string stable behavior.",
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String stable model predictive cooperative adaptive cruise control for heterogeneous platoons. / van Nunen, E (Corresponding author); Reinders, J.M.F.; Semsar-Kazerooni, Elham; van de Wouw, N.

In: IEEE Transactions on Intelligent Transportation Systems, Vol. 4, No. 2, 20.03.2019, p. 186-196.

Research output: Contribution to journalArticleAcademicpeer-review

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AU - Reinders, J.M.F.

AU - Semsar-Kazerooni, Elham

AU - van de Wouw, N.

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N2 - Cooperative Adaptive Cruise Control (CACC) is a potential solution to decrease traffic jams caused by shock waves, increase the road capacity, decrease fuel consumption and improve safety. This paper proposes an integrated solution to a combination of four challenges in these CACC systems. One of the technological challenges is how to guarantee string stability (the ability to avoid amplification of dynamic vehicle responses along the string of vehicles) under nominal operational conditions. The second challenge is how to apply this solution to heterogeneous vehicles. The third challenge is how to maintain confidentiality of the vehicle parameters. Finally, the fourth challenge is to find a method which improves robustness against wireless packet loss. This paper proposes a model predictive control approach in combination with a feed-forward control design, which is based on a shared vector of predicted accelerations over a finite time horizon. This approach is shown to be applicable to a heterogeneous sequence of vehicles, while the vehicle parameters remain confidential. In previous work such an approach has shown to increase robustness against packet losses. Conditions for string stability are presented for the nominal operational conditions. Experimental results are presented and indeed demonstrate string stable behavior.

AB - Cooperative Adaptive Cruise Control (CACC) is a potential solution to decrease traffic jams caused by shock waves, increase the road capacity, decrease fuel consumption and improve safety. This paper proposes an integrated solution to a combination of four challenges in these CACC systems. One of the technological challenges is how to guarantee string stability (the ability to avoid amplification of dynamic vehicle responses along the string of vehicles) under nominal operational conditions. The second challenge is how to apply this solution to heterogeneous vehicles. The third challenge is how to maintain confidentiality of the vehicle parameters. Finally, the fourth challenge is to find a method which improves robustness against wireless packet loss. This paper proposes a model predictive control approach in combination with a feed-forward control design, which is based on a shared vector of predicted accelerations over a finite time horizon. This approach is shown to be applicable to a heterogeneous sequence of vehicles, while the vehicle parameters remain confidential. In previous work such an approach has shown to increase robustness against packet losses. Conditions for string stability are presented for the nominal operational conditions. Experimental results are presented and indeed demonstrate string stable behavior.

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