Driver and Vehicle Characteristics and Platoon and Traffic Flow Stability

Pueboobpaphan, Rattaphol; Arem, Bart van

doi:10.3141/2189-10

Cited by 55 publications

(12 citation statements)

References 35 publications

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“…The primary performance measure of a platoon of vehicles is string stability, which ensures that the inter-vehicular spacing errors of all the vehicles are hounded uniformly in time provided the initial spacing errors of all the vehicles are bounded. A string of vehicles is said to be string stable when any non-zero position, speed and acceleration errors are not amplified when they propagate upstream [3], [8]. The string stability results to traffic jam for no apparent reason, a shockwave [12] of continuously increased braking ( seiscon 2013) 12-14 Dec 2013 -K.C.G College of Technology -Chennai due to heavy traffic or erratic driving behavior, upstream a string of vehicles, until the vehicle stops [9].…”

Section: State Of Artmentioning

confidence: 99%

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

Cloudin¹,

Komathy²

2013

IET Chennai Fourth International Conference on Sustainable Energy and Intelligent Systems (SEISCON 2013)

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Mobility models, which determine the movement pattern of nodes communicating wirelessly, play a vital role in the simulation-based evaluation of Vehicular Ad Hoc Networks. Realistic mobility models enable us to assess the network performance more accurately, and it is required to design a realistic mobility model that mimics the real vehicle scenario. This paper made an attempt to bring out a suitable mobility model for vehicular networks, which improves the network performance in accordance with string stability, by incorporating the concept of Fuzzy Cooperative Adaptive Cruise Control mechanism among a platoon of vehicles. The experimental study and analysis find that fuzziness improves the performance of the network in terms of packet delay ratio, delay and throughput.

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Section: State Of Artmentioning

confidence: 99%

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

Cloudin¹,

Komathy²

2013

IET Chennai Fourth International Conference on Sustainable Energy and Intelligent Systems (SEISCON 2013)

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“…, for the car-following model, where S i is defined as vehicle dynamics. To connect the dynamics between vehicle i and its preceding vehicle i-1, a CACC control law needs to be designed, as shown in (2).…”

Section: A Vehicle Longitudinal Dynamicsmentioning

confidence: 99%

“…where, f {•} is the specific control law and is the communication delay. Equation (2) provides the relationship between the desired control input u i and the vehicle dynamics S i when considering the communication delay.…”

Section: A Vehicle Longitudinal Dynamicsmentioning

confidence: 99%

Modeling and Numerical Analysis on Communication Delay Boundary for CACC String Stability

Tian

Deng

et al. 2019

IEEE Access

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Cooperative Adaptive Cruise Control (CACC) uses wireless communication between vehicles to form a vehicle platoon. It has been proven that CACC aids in the stability and efficiency of traffic flow, and also reduces the energy consumption of the vehicles by lowering air resistance of the following vehicles. However, communication delay is a natural uncertainty for a platoon under CACC mode. When the delay gets worse to a particular level, the string stability of the platoon will be destroyed, meaning spacing or speed errors will be amplified upstream from vehicle to vehicle in the platoon. Therefore, in this study, a numerical method is proposed to identify the communication delay boundary according to the vehicle dynamics and the parameter settings of the CACC controller. First, in the Laplace domain, a series of string stable bodies under different disturbance frequencies are created based on the string stability criteria. Considering the frequency characteristics of traffic flows, the string stable bodies are then combined into a uniform one. Lastly, with the increase of communication delay, its upper bound will be obtained until the area of string stability totally disappears. Two simulations were conducted to verify the correctness and accuracy of the proposed method. The results indicate that the string stability cannot be guaranteed once the communication delay just exceeds the upper bound. This study can provide an objective boundary for practitioners or engineers, thereby allowing them to determine whether wireless inter-vehicle communication is capable of maintaining a string-stable platoon. INDEX TERMS Platooning, cooperative adaptive cruise control (CACC), communication delay boundary, longitudinal control, constant time gap (CTG) policy.

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“…Much work on control design and stability analysis of vehicle platoons does not explicitly address both time delays [13]. Omitting the combination of sensor delay and actuator lag in the control loop may result in over-optimistic evaluations of the controller performance and the corresponding impacts on traffic flow [11].…”

Section: Introductionmentioning

confidence: 99%

String stability of heterogeneous platoons with non-connected automated vehicles

Wang

Gao

et al. 2017

2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)

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It is expected that automated vehicles will gradually penetrate on public roads, resulting in mixed traffic in the next decades. This can impact traffic flow operations, especially the roadway capacity and flow stability. It is of paramount importance to understand and predict the implications of automated driving systems on traffic flow at the early design phase to avoid disruptive impacts on traffic. String stability properties of automated vehicle platoons are a fundamental block to understand their traffic flow stability impact. Previous reports on string stability analysis focussed on homogeneous vehicle strings and simplify the time delays in vehicle systems. This work propose an analytical approach to determine string stability conditions for non-connected vehicle platoons with heterogeneous parameters. To this end, a third-order linear vehicle dynamics model is used in the control design and Laplace transform of the spacing and speed error dynamics in time domain to frequency domain enables the determination of sufficient string stability criteria of heterogeneous vehicle strings. The analytical string stability conditions give new insights into the relationship between the string stability properties of vehicle strings in relation to the system properties of time delays and controller design parameters of feedback gains and desired time gap. Analytical results are verified via systematic simulation of both homogeneous and heterogeneous strings. Simulations demonstrate the predictive power of the analytical string stability conditions.

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Driver and Vehicle Characteristics and Platoon and Traffic Flow Stability

Cited by 55 publications

References 35 publications

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

Modeling and Numerical Analysis on Communication Delay Boundary for CACC String Stability

String stability of heterogeneous platoons with non-connected automated vehicles

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