Design and Experimental Validation of a Cooperative Driving Control Architecture for the Grand Cooperative Driving Challenge 2016

Hult, Robert; Sancar, Feyyaz Emre; Jalalmaab, Mehdi; Vijayan, Arun; Severinson, Albin; Vaio, Marco Di; Falcone, Paolo; Fi̇dan, Barış; Santini, Stefania

doi:10.1109/tits.2017.2750083

Cited by 38 publications

(14 citation statements)

References 20 publications

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“…Mathematical models of car vehicle dynamics are essential for the development of future driverless cars and driver assistance systems [1]- [4]. Typically, the development of longitudinal and lateral vehicle control algorithms have been based on physically derived models, either fully nonlinear [5] or based on linearised time-varying models [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Linear System Identification of Longitudinal Vehicle Dynamics Versus Nonlinear Physical Modelling

James

Anderson

2018

2018 UKACC 12th International Conference on Control (CONTROL)

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Section: Introductionmentioning

confidence: 99%

Linear System Identification of Longitudinal Vehicle Dynamics Versus Nonlinear Physical Modelling

James

Anderson

2018

2018 UKACC 12th International Conference on Control (CONTROL)

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“…where a k is the acceleration of the subject vehicle, which is one of the output variables of the CACC system [33,34]. Derived from the typical PATH CACC model, a more specifically defined and modified CACC model, is proposed in this paper, which is a linear state feedback control system as well.…”

Section: The Modified Cacc Algorithmmentioning

confidence: 99%

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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“…There is plenty of research on connected vehicles, including architectures, enabling technologies, applications, and development areas ( 6 ). The cooperative driving systems based on connected vehicles have been designed and experimentally validated by many studies ( 7 , 8 ), but those systems mainly refer to cooperative automated driving, and their reliabilities are rarely analyzed and tested. It is more realistic to analyze the reliabilities of cooperative manual driving systems.…”

Section: Literature Reviewmentioning

confidence: 99%

System-Level Reliability Analysis of Cooperative Driving with V2X Communication for Intersection Collision Avoidance

Zeng

Yang

2020

Transportation Research Record: Journal of the Transportation R

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Cooperative driving with vehicle-to-everything (V2X) communication is a promising technique to improve traffic safety and efficiency. Intersection collision avoidance (ICA) is a typical safety application of it. This paper analyzes reliability of ICA with cooperative manual driving at the system level. First, the reliability of an ICA system is defined as the probability of the ICA system avoiding collisions or near-misses at intersections without failure under conditions that collisions or near-misses are about to happen. Post-encroachment time is used in the expression of this definition. Then, components of the ICA system are classified into four types: hardware, software, maneuver, and V2X communication, and a reliability block diagram (RBD) is applied to reveal how these components contribute to system reliability. Five ICA system patterns with different V2X communication modes and strategy types are compared based on RBD analysis. This shows that centralized strategies are more reliable than decentralized ones for V2I communication if software reliability of these two strategies is the same. Furthermore, reliabilities of ICA components are analyzed in detail, and they are classified into two categories based on their different impact modes on the system. Finally, a numerical example shows how to test reliability of an ICA system using reliabilities of its components by Monte Carlo simulation. Results show that closer distances from vehicles to their conflict point when alerted, longer driver reaction time, and smaller vehicle deceleration rates are more likely to lead to system failure, whereas communication latency has little effect on it.

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Design and Experimental Validation of a Cooperative Driving Control Architecture for the Grand Cooperative Driving Challenge 2016

Cited by 38 publications

References 20 publications

Linear System Identification of Longitudinal Vehicle Dynamics Versus Nonlinear Physical Modelling

Linear System Identification of Longitudinal Vehicle Dynamics Versus Nonlinear Physical Modelling

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

System-Level Reliability Analysis of Cooperative Driving with V2X Communication for Intersection Collision Avoidance

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