Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information

Darbha, Swaroop; Konduri, Shyamprasad; Pagilla, Prabhakar R.

doi:10.1049/iet-its.2019.0204

Cited by 18 publications

(6 citation statements)

References 28 publications

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“…In [8] it was shown that including additional information from the platoon leader is required. In order to address string stability, further communication topologies like mini-platoons [3] or multiple vehicles look ahead are reviewed in [3] [49]. Cyclic as well as bidirectional communication architectures are discussed in [9].…”

Section: B Constant Distance Gap Policy (Cdg)mentioning

confidence: 99%

“…After very early work [8], [50] on CDG showed that overall string stable platoons cannot be established using a one-vehicle lookahead communication, CDG received less subsequent attention in literature than CTG. Most works on CDG focused on achieving string stability for the employment of CDG at the full range of driving conditions [3], [5], [9], [45], [49], [50]. Since this goal is out of scope of this work, we omit a deeper literature review in this field.…”

Section: B Constant Distance Gap Policy (Cdg)mentioning

confidence: 99%

“…Since this goal is out of scope of this work, we omit a deeper literature review in this field. However, the interested reader is referred to the survey article [45] and [1], [49].…”

Section: B Constant Distance Gap Policy (Cdg)mentioning

confidence: 99%

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A Numerical Study on Constant Spacing Policies for Starting Platoons at Oversaturated Intersections

2022

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Cooperative Adaptive Cruise Control (CACC) is considered as a key potential enabler to improve driving safety and traffic efficiency. It allows for automated vehicle following using wireless communication in addition to onboard sensors. To achieve string stability in CACC platoons, constant time gap (CTG) spacing policies have prevailed in research; namely, vehicle interspacing grows with the speed. While constant distance gap (CDG) spacing policies provide superior potential to increase traffic capacity than CTG, their major drawbacks are a smaller safety margin at high velocities and that string stability cannot be achieved using a one-vehicle look-ahead communication. In this work, we propose to apply CDG only in a few driving situations, when traffic throughput is of highest importance and safety requirements can be met due to relatively low velocities. As the most relevant situations where CDG could be applied, we identify starting platoons at signalized intersections. With this application scenario we show that applying CDG only in a few specific and crucial situation can have a major impact on traffic efficiency. Specifically, we compare CTG with CDG regarding its potential to increase the capacity of traffic lights. Starting with the elementary situation of single traffic lights we expand our scope to whole traffic networks including several thousand vehicles in simulation. Using real world data to calibrate and validate vehicle dynamics simulation and traffic simulation, the study discusses the most relevant working parameters of CDG, CTG, and the traffic system in which both are applied.

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Section: B Constant Distance Gap Policy (Cdg)mentioning

confidence: 99%

Section: B Constant Distance Gap Policy (Cdg)mentioning

confidence: 99%

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A Numerical Study on Constant Spacing Policies for Starting Platoons at Oversaturated Intersections

2022

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“…In terms of Constant Spacing, Silva et al [2] proposes an integral controller, which can ensure string stability and restrain disturbance in the vehicle platoon system with disturbance. Darbha et al [3] proposed a control controller based on constant spacing policy for vehicle platooning system using multiple vehicles look ahead information. Ge and Orosz [4] proposed acceleration-based connected cruise control (CCC)to increase roadway traffic mobility, and the results show that adding a few appropriate CCC vehicles to the traffic flow can stabilize otherwise string unstable vehicle platoons.…”

Section: Introductionmentioning

confidence: 99%

An Improved Adaptive Exponential Reaching Sliding Mode Control Strategy for Intelligent Connected Vehicle System under Complex Communication Environment and Different Types of Interference

Song

Wang

et al. 2023

Preprint

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This paper studies the performance of a nonlinear sliding mode controller in the cooperative control of the intelligent connected vehicles system. The study begins by proposing a V2V car-following model that takes into account the impacts of disturbances both external and within in the system. Subsequently, an improved adaptive exponential reaching sliding mode controller (IAERSMC) based on a non-singular terminal sliding mode variable is proposed. It is shown through theoretical analysis that with this controller, the system can converge in finite time and enhance dynamic performance. To verify the effectiveness of the controller proposed in this study, two simulation experiments are designed and performed. The first experiment tests the change of communication environment by transforming the communication topology, and the second experiment tests response to three different types of input interference: continuous regular interference, continuous irregular interference, and episodic disturbance. Simulation results show that the controller proposed in this study can maintain a stable operating state of the intelligent connected vehicles system in the face of the complex variable communication environments and different types of interference. The theoretical analysis agrees with the results of the simulated experiments.

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“…Defining the desired inter-vehicle distance can impact string stability [2]. Two general spacing policies are applied in vehicle platoons, constant spacing policy (CSP) [3] and constant time headway spacing policy (CTHP) [4]. In this work, we consider CTHP because it is closer to normal driving.…”

Section: Introductionmentioning

confidence: 99%

Towards Establishing String Stability Conditions For Heterogeneous Vehicle Platoons Under the MPF Topology

Abolfazli

Jiang

Charalambous

2022

2022 European Control Conference (ECC)

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Enhancing the adaptive cruise control (ACC) functionality with wireless communication links, in addition to sensors such as radars and/or lidars, cooperative adaptive cruise control (CACC) is facilitated. CACC enables driving at small intervehicle distances, forming a vehicle platoon system, while maintaining string stability (i.e., the disturbance is attenuated along the vehicle string). While string stability is a necessary requirement for the design of vehicle platoons, most of the works are limited to homogeneous vehicles or platoons with a single heterogeneity, which is not often the case in reality. In this work, we make an attempt to provide sufficient conditions for string stability for a very general case of heterogeneous vehicle platoons under the multiple-predecessor following (MPF) topology. More specifically, we focus on the following forms of heterogeneity: different parasitic lags, different time headways, different controller parameters and different communication time delays. First, we obtain sufficient conditions for string stability for the general case. Homogeneous vehicle platoons or platoons with a single heterogeneity constitute special cases. Since providing closed-form expressions for the general case is not feasible, we analyze some simpler, yet practical, cases. In particular, we allow the time headway and the controllers to be identical (this can be part of the design of the vehicle platoons) and we consider the case in which parasitic lags and communication time delays can be different. Case studies are considered in simulations in order to give more insights and limitations of our results.

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Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information

Cited by 18 publications

References 28 publications

A Numerical Study on Constant Spacing Policies for Starting Platoons at Oversaturated Intersections

A Numerical Study on Constant Spacing Policies for Starting Platoons at Oversaturated Intersections

An Improved Adaptive Exponential Reaching Sliding Mode Control Strategy for Intelligent Connected Vehicle System under Complex Communication Environment and Different Types of Interference

Towards Establishing String Stability Conditions For Heterogeneous Vehicle Platoons Under the MPF Topology

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