Abstract
Cooperative Adaptive Cruise Control (CACC) is an advanced technique for organizing and managing a vehicle platoon, which employs the Vehicle-to-Vehicle/Vehicle-to-Infrastructure (V2V/V2I, or V2X) wireless communication to minimize the inter-vehicle distance while guaranteeing string-stability. Consequently, the conventional CACC system relies heavily on the quality of communications, which means that the regular CACC platoon is sensitive to the communication failure. Therefore, in this paper, a Safety Reinforced Cooperative Adaptive Cruise Control (SR-CACC) strategy is proposed to resist unexpected communication failure. Different from the regular CACC system, the safety enhanced platoon control system is embedded with a dual-branch control strategy. When a fatal wireless communication failure is detected and confirmed, the SR-CACC system will automatically activate the alternative sensor-based adaptive cruise control strategy. Moreover, to make the transforming process smooth, a linear smooth transition algorithm is added to the SR-CACC system. Then, to verify the performance of the proposed SR-CACC system, we conducted a simulation experiment with a heterogonous platoon constructed with eight vehicles. The experiments results reveal that, under the extremely poor communication environment, the proposed SR-CACC strategy can significantly improve the safety performance of the organized vehicle platoon.
Highlights
As the World Health Organization (WHO) revealed in the 2018 global road traffic accident report [1], road traffic crashes result in 1.35 million annual fatalities and leave 20 and 50 million people suffering from non-fatal injuries around the world
We proposed a safety-reinforced cooperative adaptive cruise control strategy to avoid rear-end collision accidents and guarantee the string stability of the heterogonous platoon
Unlike the regular Cooperative Adaptive Cruise Control (CACC) system, the safety enhanced platoon control system is embedded with a dual-branch control strategy, which is devoted to mitigating the safety hazards caused by unexpected communication failure
Summary
As the World Health Organization (WHO) revealed in the 2018 global road traffic accident report [1], road traffic crashes result in 1.35 million annual fatalities and leave 20 and 50 million people suffering from non-fatal injuries around the world. Most of the previous research investigated CACC platoons that were mainly based on the assumption that communication networks are perfect. To the best of our knowledge, existing research on the compensation strategy of communication failures is still scarce [18] Motivated by these gaps, this paper mainly focuses on the problem of the cooperative vehicle platoon under imperfect communication environments, especially line formation and the maintenance of heterogenous CACC vehicle teams. (i) A novel dual-branch safety-reinforced cooperative adaptive cruise control strategy that is proposed to guarantee the safety of a heterogenous platoon under extremely poor communication environments. (iii) We designed simulation experiments to analyze the performance of the proposed SR-CACC system, where the vehicle platoon suffering from vital communication failure is considered. Conclusions and discussions are presented in the last section of this paper
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