Cooperative Adaptive Cruise Control With Predicted Vehicle Information: Development and Evaluation

Kılıç, Furkan
Using cooperative adaptive cruise control (CACC), it is possible for a platoon of vehicles to travel safely while increasing the traffic throughput and reducing the fuel consumption. Specifically, the maximization of the traffic throughput and the minimization of the fuel consumption is best supported by a constant spacing policy (CSP). In addition, driving safety requires the attenuation of any disturbances through the vehicle platoon, which is captured by the notion of string stability. In order to realize a CSP while maintaining string stability, each follower vehicle in a platoon should obtain leader and predecessor information via vehicle-to-vehicle (V2V) communication. In this context, it has to be respected that CACC platoons under the leader predecessor following (LPF) topology with CSP are affected by different delays in terms of string stability, performance and applicability. These are the leader follower (LF) communication delay, predecessor follower (PF) sensor and communication delay. The main aim of this thesis is to recover the ideal delay-free LPF CSP performance even in the presence of the aforementioned delays, hence confirming the applicability of the LPF topology with CSP in practice. To this end, the thesis presents a robust controller synthesis procedure and then proposes several modifications of the stateof- the-art control architecture. Hereby, the main novelty is given by prediction of the future leader acceleration, which can be used to eliminate the LF communication delay. Moreover, to remove the PF communication delay, a novel and simple method of estimating the predecessor vehicle acceleration from the leader acceleration is introduced. In order to increase the performance under predecessor disturbances, a prediction observer is employed to combine the communicated and estimated predecessor information. The developed overall control architecture is then further adapted to include a Smith predictor that helps overcome the PF sensor delay. Simulation experiments confirm that the performance of the introduced topologies closely approximates the ideal delay-free LPF topology with CSP.


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Citation Formats
F. Kılıç, “Cooperative Adaptive Cruise Control With Predicted Vehicle Information: Development and Evaluation,” M.S. - Master of Science, Middle East Technical University, 2022.