Padé Approximation of Delays in Cooperative ACC Based on String Stability Requirements

Abstract

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A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles

“…For example, early research on the string stability of inter-connected systems includes [141]- [143]. Afterwards, numerous studies have been focused on the string stability of CACC systems, e.g., [7], [52], [59], [110], [128], [144]- [153]. In these studies, the definition of string stability in terms of the norms that were used can be classified into several types, e.g., L2 string stability [128,154], Lp string stability [129], string stability [143], L3 string stability [155], and head-to-tail string stability [156]- [158].…”

“…where hk is the headway of vehicle , k v0 is the speed of vehicle 0, and d is the homogeneous standstill gap. In [153], [154], it is defined that ,…”

A Review on Cooperative Adaptive Cruise Control (CACC) Systems: Architectures, Controls, and Applications

“…The string stability was proved where the proposed system was capable of damping small disturbances throughout the platoon. Padé approximation method was adopted in the CACC system proposed by Xing et al to model the vehicle actuator delay arriving at a finite-dimensional model, since the vehicle actuator delay significantly limits the minimum inter-vehicle distance in view of string stability requirements [46].…”

A new adaptive cruise control strategy and its stabilization effect on traffic flow

“…Moreover, Davis [25] investigated the impact of mechanical response on string stability of a platoon of ACC-equipped vehicles. Considering the delay, Xing et al [27], Wang et al [28] and Besselink and Johansson [29] proposed appropriate control strategies to enhance string stability of ACC-equipped vehicle platoon. Moreover, Li et al [30] proposed an extended intelligent driver model and analyzed the stability against a small perturbation by use of the linear stability method for the proposed model on a single lane.…”