Comparison of cooperative adaptive cruise control methods in idealistic and realistic scenarios

Aydın, Ahmed Buğra
Intelligent transportation systems (ITS) aim at improving the efficiency and safety of transportation. In dense traffic, vehicles are aggregated to vehicle strings that travel on the same lane, whereby it is desired to maintain a small but safe distance between the vehicles in order to ensure driving comfort and safety. Cooperative adaptive cruise control (CACC) is a technology that is developed to address this issue. Hereby, the condition of string stability is highly relevant since it ensures the attenuation of disturbances along a vehicle string. When designing controllers for CACC, it is required to select a signal with respect to which string stability should be fulfilled. In the literature, the most common signals for this purpose are the distance error signal and the acceleration signal. Although various design and analysis methods for string stability based on these signals are available, it is not clear which of these signals is more suitable for fulfilling string stability in practice. To this end, this thesis compares different methods from the existing literature regarding their suitability for the realization of CACC in practice. As the main outcome, it is shown that, although methods that are based on the error signal are functional in case of ideal conditions such as negligible delays, they are clearly outperformed by methods that use the acceleration signals in realistic scenarios with both actuator and communication delays.


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Citation Formats
A. B. Aydın, “Comparison of cooperative adaptive cruise control methods in idealistic and realistic scenarios,” M.S. - Master of Science, Middle East Technical University, 2021.