Evaluation of CACC string stability using SUMO, Simulink, and OMNeT++

Lei, Chengshuai; Eenennaam, E.M. van; Wolterink, Wouter Klein; Ploeg, Jeroen; Karagiannis, Georgios; Heijenk, Geert

doi:10.1186/1687-1499-2012-116

Cited by 39 publications

(23 citation statements)

References 14 publications

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“…In [9], for instance, it was found that the ratio of correctly received packets drops to values below 10% on a motorway junction with high traffic density, assuming all vehicles are equipped with wireless communication devices. Taking packet loss into account, [10] focused on H ∞ controller synthesis, whereas the experimental study described in [11] analyzed the effects on string stability for a given controller.…”

mentioning

confidence: 99%

Graceful Degradation of Cooperative Adaptive Cruise Control

Ploeg

Semsar-Kazerooni

Lijster³

et al. 2015

IEEE Trans. Intell. Transport. Syst.

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236

128

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Abstract-Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would effectively degrade to conventional adaptive cruise control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. To partially maintain the favorable string stability properties of CACC, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed, based on estimating the preceding vehicle's acceleration using onboard sensors, such that the CACC can switch to this strategy in case of persistent packet loss. In addition, a switching criterion is proposed in the case that the wireless link exhibits increased latency but does not (yet) suffer from persistent packet loss. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared with the ACC fallback scenario.

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mentioning

confidence: 99%

Graceful Degradation of Cooperative Adaptive Cruise Control

Ploeg

Semsar-Kazerooni

Lijster³

et al. 2015

IEEE Trans. Intell. Transport. Syst.

Self Cite

236

128

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“…Some limitations and uncertainties in practical vehicular networking, such as transmission range, packet loss, and probabilistic transmission delay, may have negative impacts on the platoon control system performance [66]. Consequently, it is critical to clarify how these communication constraints and uncertainties affect the platooning system and how to implement the vehicle platooning under such communication uncertainties.…”

Section: Cooperative Platoon Drivingmentioning

confidence: 99%

“…Lei et al [66] investigated the platoon stability of a CACC system in the presence of imperfect communication. They conducted the simulation by coupling traffic simulator with networking simulator.…”

Section: A Modeling Platoon-based Vcpssmentioning

confidence: 99%

“…With the help of inter-vehicle communication, the CACC system can be modeled as a networked control system wherein feedback loop design couples both VANET and platoon mobility. Some uncertainties of practical VANET, such as packet loss and probabilistic transmission delay, have negative impact on the control performance, as referred to [66].…”

Section: A Modeling Platoon-based Vcpssmentioning

confidence: 99%

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A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Jia

Wang

et al. 2016

IEEE Commun. Surv. Tutorials

663

273

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Abstract-Vehicles on the road with some common interests can cooperatively form a platoon-based driving pattern, in which a vehicle follows another one and maintains a small and nearly constant distance to the preceding vehicle. It has been proved that, compared to driving individually, such a platoon-based driving pattern can significantly improve the road capacity and energy efficiency. Moreover, with the emerging vehicular adhoc network (VANET), the performance of platoon in terms of road capacity, safety and energy efficiency, etc., can be further improved. On the other hand, the physical dynamics of vehicles inside the platoon can also affect the performance of VANET. Such a complex system can be considered as a platoon-based vehicular cyber-physical system (VCPS), which has attracted significant attention recently. In this paper, we present a comprehensive survey on platoon-based VCPS. We first review the related work of platoon-based VCPS. We then introduce two elementary techniques involved in platoon-based VCPS: the vehicular networking architecture and standards, and traffic dynamics, respectively. We further discuss the fundamental issues in platoon-based VCPS, including vehicle platooning/clustering, cooperative adaptive cruise control (CACC), platoon-based vehicular communications, etc., and all of which are characterized by the tight coupled relationship between traffic dynamics and VANET behaviors. Since system verification is critical to VCPS development, we also give an overview of VCPS simulation tools. Finally, we share our view on some open issues that may lead to new research directions.Index Terms-Platoon, Cyber-physical system (CPS), Vehicular ad-hoc network (VANET), Platoon-based vehicular communications, Cooperative adaptive cruise control (CACC), Simulator.

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“…In addition, Omae et al (4) have reported a CACC design for trucks, along with an accompanying simulation-based evaluation, while Xu and Raja (5) have analyzed the difference in behavior of ACC and CACC with regard to lane merging. Finally, Lei et al (6) have evaluated the influence of V2V communication packet loss on control.…”

Section: Related Workmentioning

confidence: 99%

Experimental Testing of Cooperative Adaptive Cruise Control using Small Electric Vehicles

Ogitsu

Omae

2016

The Proceedings of the 4th International Conference on Industrial Application Engineering 2016

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This paper reports on the development of a cooperative adaptive cruise control (CACC) algorithm for small electric vehicles (EVs), and on the evaluation of this algorithm through application to small EVs. In order to enhance the feasibility of autonomous vehicle driving systems, both ride comfort, which depends on longitudinal control, and stable vehicle-to-vehicle (V2V) distance are essential. The CACC algorithm presented in this study has been developed to satisfy these technological requirements. Generally, as regards determining the state quantities of a preceding vehicle, methods that exploit information received from the preceding-vehicle internal sensors via V2V communication are more accurate than external-sensor-based technologies. The former approach is used by CACC, and such algorithms can achieve both ride comfort and stable V2V distance. However, to date, insufficient evaluation of the performance of such technologies has been conducted using actual vehicles. Therefore, the developed CACC for small EVs presented in this study is evaluated using several vehicles. In this paper, previous research on driving assistant systems such as CACC is first described. Then, studies related to the CACC presented in this work are introduced and their technological problems are identified. Next, the designed CACC algorithm is explained. Finally, the experimental procedure and results are presented and discussed, where the performance of four small EVs using the CACC algorithm developed in this study are examined. This evaluation confirms the capability of CACC to ensure both ride comfort and a stable V2V distance.

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Evaluation of CACC string stability using SUMO, Simulink, and OMNeT++

Cited by 39 publications

References 14 publications

Graceful Degradation of Cooperative Adaptive Cruise Control

Graceful Degradation of Cooperative Adaptive Cruise Control

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Experimental Testing of Cooperative Adaptive Cruise Control using Small Electric Vehicles

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