Communication Aspects of a Modified Cooperative Adaptive Cruise Control Algorithm

Sybis, Michał; Vukadinović, Vladimir; Rodziewicz, Marcin; Sroka, Paweł; Langowski, Adrian; Lenarska, Karolina; Wesołowski, Krzysztof

doi:10.1109/tits.2018.2886883

Cited by 37 publications

(29 citation statements)

References 37 publications

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“…When t ≤ 0, f (t) = 0, which proved that According to the above proof, the inter-relationship between F obs (s) and F real (s) can be simply expressed as F obs (s) = e −sτ F real (s), integrating this model with the most widely used longitude dynamics model [35] F real (s) = 1 1+s , then F obs (s) = e −sτ 1+s ; the longitudinal dynamics model is be used in the subsequent simulation experiments.…”

Section: The Communication Time Delay Modelmentioning

confidence: 67%

Safety Analysis of a Modified Cooperative Adaptive Cruise Control Algorithm Accounting for Communication Delay

Wang

Hua

et al. 2020

Sustainability

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Cooperative adaptive cruise control (CACC) is a promising technology to improve traffic efficiency and enhance road safety. In this paper, a modified CACC control model considering the communication time delay is proposed, which is used to investigate the longitudinal safety impacts of the communication time delay to the CACC platoon. Then, the communication time delay model is integrated into the CACC model to simulate the realistic information transfer process in the CACC platoon. Then a microscopic CACC platoon simulation is designed and conducted to verify the feasibility and reliability of the modified CACC control algorithm. The obtained results reveal that the modified CACC control algorithm can not only reduce about 96.6% of inter-vehicle spacing error, but also enhance the vehicles’ ability to sense the upstream traffic changes. Furthermore, to quantitatively analyze the longitudinal safety influence of the time delay caused by representative communication systems, sensitivity analysis experiments of headway time were designed and conducted. In the sensitivity analysis, the time exposed time-to-collision (TET) and the time-integrated time-to-collision (TIT) were introduced as the key performance indicators (KPIs) to quantify the rear-end collision risks. Sensitivity analysis results demonstrate that the performance of the CACC platoon is strictly related to the applied wireless communication style. Furthermore, the CACC system supported by the 5th generation (5G) communication system shows great advantages in narrowing the minimal headway time gap and reducing the rear-end collision risks.

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Section: The Communication Time Delay Modelmentioning

confidence: 67%

Safety Analysis of a Modified Cooperative Adaptive Cruise Control Algorithm Accounting for Communication Delay

Wang

Hua

et al. 2020

Sustainability

View full text Add to dashboard Cite

show abstract

“…Aiming at improvements, [5] introduced the Predictive CACC (PCACC), while [12] performed a string stability analysis for it. The PCACC controller differs from CACC by the usage of the desired acceleration of the leader and the preceding vehicle instead of the actual value.…”

Section: A Fully Cooperative Controlmentioning

confidence: 99%

Performance and design of robust platoons under different communication technologies

Gonçalves

Varma

Elayoubi

2021

2021 IEEE 93rd Vehicular Technology Conference (VTC2021-Spring)

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This article studies cooperative vehicle platooning under different communications approaches and introduces a new dynamic control scheme based on the Predicted Cooperative Adaptive Cruise Control (PCACC). We start by a performance comparison of different communication technologies including VLC (Visible Light Communication) and V2V (Vehicle-to-Vehicle), with or without relaying via RSU (Road Side Unit), and assess their suitability to fully cooperative and semi-autonomous control schemes. Different from the state of the art, our main design goal is the robustness in terms of an extremely low probability of emergency braking under varying communication conditions and bursts of packet losses. In the light of the performance results, we propose an adaptive control mechanism that tunes the control gains as a function of the observed radio link quality and demonstrate, via extensive simulations, a significantly better performance compared to static control strategies.Index Terms-Vehicle platoons, cooperative adaptive cruise control (CACC), wireless communication.

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“…PCACC, introduced in [10], implies that the control effort, the desired acceleration, of the leader and of the preceding vehicle are available to the following vehicle and its control law is given by…”

Section: B Predictive Cooperative Adaptive Cruise Controlmentioning

confidence: 99%

“…Different from the aforementioned article, we propose an online adaptation of the control parameter based on the observed quality of the communication link determined by the distance to the transmitter and the level of interference caused by other vehicles. More recently, [10] introduced a string stability analysis for a CACC alternative control design, in this paper called Predicted Cooperative Adaptive Cruise Control (PCACC).…”

Section: Introductionmentioning

confidence: 99%

Vehicle platooning schemes considering V2V communications: A joint communication/control approach

Gonçalves

Varma

Elayoubi

2020

2020 IEEE Wireless Communications and Networking Conference (WCNC)

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Communication Aspects of a Modified Cooperative Adaptive Cruise Control Algorithm

Cited by 37 publications

References 37 publications

Safety Analysis of a Modified Cooperative Adaptive Cruise Control Algorithm Accounting for Communication Delay

Safety Analysis of a Modified Cooperative Adaptive Cruise Control Algorithm Accounting for Communication Delay

Performance and design of robust platoons under different communication technologies

Vehicle platooning schemes considering V2V communications: A joint communication/control approach

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