Name
Abstract | ||
|---|---|---|
The design of a cooperative adaptive cruise-control (CACC) system and its practical validation are presented. Focusing on the feasibility of implementation, a decentralized controller design with a limited communication structure is proposed (in this case, a wireless communication link with the nearest preceding vehicle only). A necessary and sufficient frequency-domain condition for string stability is derived, taking into account heterogeneous traffic, i.e., vehicles with possibly different characteristics. For a velocity-dependent intervehicle spacing policy, it is shown that the wireless communication link enables driving at small intervehicle distances, whereas string stability is guaranteed. For a constant velocity-independent intervehicle spacing, string stability cannot be guaranteed. To validate the theoretical results, experiments are performed with two CACC-equipped vehicles. Implementation of the CACC system, the string-stability characteristics of the practical setup, and experimental results are discussed, indicating the advantages of the design over standard adaptive-cruise-control functionality. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/TVT.2010.2076320 | IEEE T. Vehicular Technology |
Keywords | Field | DocType |
adaptive control,control system synthesis,cooperative systems,decentralised control,frequency-domain synthesis,road vehicles,stability,velocity control,cooperative adaptive cruise-control,decentralized controller design,experimental validation,frequency-domain approach,heterogeneous traffic,limited communication structure,string-stable CACC design,velocity-dependent intervehicle spacing policy,wireless communication link,Cooperative adaptive cruise control (CACC),cooperative systems,road vehicles,string stability | Frequency domain,Decentralised system,Wireless,Computer science,Control theory,Vehicle dynamics,Transfer function,Control system,Adaptive control,Cooperative Adaptive Cruise Control | Journal |
Volume | Issue | ISSN |
59 | 9 | 0018-9545 |
Citations | PageRank | References |
126 | 10.32 | 10 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gerrit J. L. Naus | 1 | 130 | 11.81 |
| René P. A. Vugts | 2 | 126 | 10.32 |
| Jeroen Ploeg | 3 | 425 | 37.26 |
| René van de Molengraft | 4 | 194 | 23.48 |
| Maarten Steinbuch | 5 | 658 | 96.53 |