A generic simulation platform for cooperative adaptive cruise control under partially connected and automated environment

Lai, Jintao; Hu, Jia; Cui, Lian; Chen, Zheng; Yang, Xiaoguang

doi:10.1016/j.trc.2020.102874

Cited by 54 publications

(15 citation statements)

References 37 publications

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“…Tere are various simulation control platforms available for validating the CACC method [50]. In this paper, the proposed two-stage CACC method is verifed and analyzed by using the MATLAB-TruckSim platform.…”

Section: Simulations and Results Analysismentioning

confidence: 99%

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

Kuang,

Tan,

Guo

et al. 2024

Journal of Advanced Transportation

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Connected and automated vehicle platoons (CAVPs) are considered an effective way to alleviate traffic congestion, reduce the incidence of traffic accidents, and improve vehicle economy in the intelligent transportation system (ITS). Vehicles in the CAVPs can communicate with each other through V2X technology, which could optimize the economy of the platoon. Cooperative adaptive cruise control (CACC) can make effective use of the characteristics of CAVPs and contribute to resource conservation, ecological driving, and traffic system development. In this paper, a two-stage CACC method is proposed for CAVPs to reduce fuel consumption in the multislope road section. In the first stage, the optimal velocity profiles for the leader based on dynamic programming (DP) are planned according to the road information and the fuel consumption model. In the second stage, a vehicle longitudinal third-order differential dynamics model is utilized to build the platoon time-delay system considering communication delay and actuator delay. A feedback controller is developed for each vehicle considering the internal stability and the string stability of the CAVPs. Results show that the proposed method can save 5.33% of fuel consumption compared to the constant speed cooperative adaptive cruise control (CS-CACC) method and has a better tracking performance compared to the model predictive control (MPC) method. The CACC method proposed in this paper can provide a theoretical basis and data support for building an ecological CACC strategy for CAVPs.

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Section: Simulations and Results Analysismentioning

confidence: 99%

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

Kuang,

Tan,

Guo

et al. 2024

Journal of Advanced Transportation

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show abstract

“…In future work, some interesting aspects are also worth being further studied. For instance, pedestrians can be considered in intersection management in urban road networks [40]; the scenarios where the human-driven vehicles coexist with CAVs [41] and the scenarios in freeway systems can also be discussed.…”

Section: Discussionmentioning

confidence: 99%

Distributed Cooperative Driving in Multi-Intersection Road Networks

Pei

Zhang

Tao

et al. 2021

Preprint

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Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms for isolated intersection cannot be directly adopted for road networks. In this paper, we propose a distributed strategy to appropriately decompose the problem into small-scale sub-problems that address vehicle cooperation within limited temporal-spatial areas and meanwhile assure appropriate coordination between adjacent areas by specially designed information exchange. Simulation results demonstrate the efficiency-complexity balanced advantage of the proposed strategy under various traffic demand settings.

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“…An overall framework interlinking the different components of the methodology was developed (Hu et al, 2023;Lai et al, 2020;Li et al, 2018;Matowicki et al, 2016b). In this paper the framework for evaluation of the impact of lane marking quality on the operations of AVs is presented in Fig.…”

Section: Methodsmentioning

confidence: 99%

Evaluating the Impact of Lane Marking Quality on the Operation of Autonomous Vehicles

Formosa,

Quddus,

Man

et al. 2024

J. Transp. Eng., Part A: Systems

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The quality of lane markings is pivotal for safe operations and efficient trajectory generations of Connected and Autonomous Vehicles (AVs). However, most studies are devoted to enhancing invehicle detection systems and ignore the impact of faulty lane markings. An instrumented vehicle was employed to mimic the data input of an AV and real-world trials were conducted on (1) live motorways and (2) a controlled motorway facility. From the live motorway data, causal factors affecting computer vision lane detection and classification algorithms were examined and an enhanced lane classification algorithm was developed to overcome the limitations posed by poor lane markings. In the controlled motorway facility, experiments to modify the physical appearance of the lane markings were conducted to further test the performance of the developed algorithm. The detection rates of the developed lane classification algorithm were compared with the Lane Departure Warning (LDW) system already implemented in the vehicle. Findings revealed that the LDW system is accurate over 95% and 54% of time when lanes are faded by 50% and 75% respectively. Further testing on the quality of the lane markings was carried out virtually in such a way that the experiments were replicated in a simulation environment to: (1) identify lane marking conditions that can be reliably adopted for safe operations of AVs, (2) estimate the effect of adverse weather and lighting conditions on road markings detection and(3) address localisation issues for AVs. Simulation results show that poor lane markings have a significant negative impact on AV safety, especially in inclement weather and poor light conditions inducing an increase in conflicts, and delays. This can be compensated if more sophisticated sensors are employed in AVs, and the operators of road network develop lane-based digital road maps.

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A generic simulation platform for cooperative adaptive cruise control under partially connected and automated environment

Cited by 54 publications

References 37 publications

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

A Two-Stage Cooperative Adaptive Cruise Control for Connected Automated Vehicles in Multislope Roads considering Communication Delay and Actuator Delay

Distributed Cooperative Driving in Multi-Intersection Road Networks

Evaluating the Impact of Lane Marking Quality on the Operation of Autonomous Vehicles

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