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Networked Model for Cooperative Adaptive Cruise Control
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON, Canada..
Tech Univ Munich, Dept Informat, Munich, Germany..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0003-1835-2963
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2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 20, p. 151-156Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a cooperative adaptive cruise control model, adding a communication network structure to an existing model that has been shown to capture real commercial adaptive cruise control vehicle behavior. The proposed model is interesting because it only requires minimal information sharing, facilitating the creation of platoons comprised of vehicles from different manufacturers. We prove the stability of the model and discuss string stability. Algorithms for estimating the velocity of the vehicles locally and for estimating the velocities of all the vehicles in the platoon are presented. We simulate vehicle platoon control with the lead vehicle following an experimentally collected trajectory, showing that adding communication can cause a string unstable platoon to become stable. 

Place, publisher, year, edition, pages
ELSEVIER , 2019. Vol. 52, no 20, p. 151-156
Keywords [en]
Semi-autonomous vehicles, Intelligent cruise control, Networks, Traffic control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266510DOI: 10.1016/j.ifacol.2019.12.150ISI: 000504302900027OAI: oai:DiVA.org:kth-266510DiVA, id: diva2:1391795
Conference
8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), SEP 16-17, 2019, Loyola Univ, Chicago, IL
Note

QC 20200205

Available from: 2020-02-05 Created: 2020-02-05 Last updated: 2020-02-05Bibliographically approved

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Pare, Philip E.Sandberg, HenrikJohansson, Karl H.
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