Paper Info
Title
Cooperative Adaptive Cruise Control Algorithms for Vehicular Platoons Based on Distributed Model Predictive Control
Abstract
Recent developments in autonomous driving field have led to a considerable interest in the sub-fields of vehicular autonomy. Researchers have practiced a significant number of longitudinal studies focusing on these sub-fields and vehicle platoons has become a recognized area over the past decade. This paper argues Cooperative Adaptive Cruise Control (CCAC) algorithms for vehicle platoons using Distributed Model Predictive Control (DMPC) under bidirectional communications. An investigation on leader information delayed platoon systems under predecessor-leader following (PLF) and two-predecessor-leader following (TPLF) topologies is held for comparison and a solution for a pre-known communication delay is proposed. Wireless communication dropout is also analyzed, and communication topology change is simulated to examine the effects. It is shown that DMPC is the right tool for both modeling and managing bidirectional communication. It can also be considered as a powerful tool in handling steady-state error due to communication delay considering simulations conducted.
Year
DOI
Venue
2020
10.1109/AMC44022.2020.9244429
2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)
Keywords
DocType
ISSN
Cooperative adaptive cruise control (CACC),platoon control,model predictive control (MPC),nonlinear
Conference
1943-6572
ISBN
Citations 
PageRank 
978-1-7281-3190-0
0
0.34
References 
Authors
5
2
Name
Order
Citations
PageRank
Tugba Tapli100.34
Mehmet Akar29820.71