Connected cruise control: modelling, delay effects, and nonlinear behaviour

Abstract

Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value. ARTICLE HISTORY

The modified optimal velocity model: stability analyses and design guidelines

“…In the context of platoon stability, it has been shown that well-placed, communicating autonomous vehicles may be used to stabilize platoons of human-driven vehicles [30]. More generally, the platooning problem has been studied as a consensus problem with delays [31].…”

“…We now illustrate the boundary for the region of non-oscillatory convergence of the MOVM described by (30). In order to better-understand the stringent constraints on system parameters to achieve non-oscillatory convergence, we also plot the necessary and sufficient condition for local stability (22) of the MOVM.…”

“…We fix the equilibrium velocity of the leader to beẋ 0 = 25 by setting the its velocity profile as 25(1 − e −10t ). We then compute τ noc using (30). We set the reaction delays as τ 1 = τ noc /10, τ 2 = τ noc /3, τ 3 = τ noc /2 and τ 4 = τ noc /5.…”

Application of Predictor Feedback to Compensate Time Delays in Connected Cruise Control

“…However, in real traffic situations, not all vehicles are equipped with range sensors and since the range of V2V communication is limited, the data about leader's motion might not be accessible to every member of the vehicular string. Therefore, the concept of connected cruise control (CCC) was introduced in [18], [22], and [23], where all available V2V signals are utilized. This concept is applicable even in the presence of human-driven vehicles in the string and it can be used in realistic traffic scenarios.…”

Predictor Design for Connected Cruise Control Subject to Packet Loss

“…However, this architecture is not practical for real traffic situations since the probability that multiple radar equipped vehicles travel next to each other is very small, and all vehicles talking to a leader is not possible due to the limited range of V2V communication. Thus, the concept of connected cruise control (CCC) was established in Orosz (2014); Ge and Orosz (2014) which uses all available V2V signals when inserted into a flow of human-driven vehicles. CCC may be used to support the human driver, to supplement sensory information, or to control the longitudinal motion of vehicle.…”