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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

32 Citaten (Scopus)
1 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
Titel2017 IEEE 20th International Conference on Intelligent Transportation Systems, ITSC 2017
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's1-8
Aantal pagina's8
ISBN van elektronische versie978-1-5386-1526-3
ISBN van geprinte versie978-1-5386-1527-0
DOI's
StatusGepubliceerd - 14 mrt. 2018
Evenement20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017 - Yokohama, Kanagawa, Japan
Duur: 16 okt. 201719 okt. 2017
Congresnummer: 20

Congres

Congres20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017
Verkorte titelITSC 2017
Land/RegioJapan
StadYokohama, Kanagawa
Periode16/10/1719/10/17

Financiering

This research has received funding from the European Unions Horizon 2020 research and innovation programme under ROADART Grant Agreement No 636565. Furthermore, the authors would like to thank Jacco van de Sluis and Dennis Heuven for their V2V implementation support.

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