Cooperative Adaptive Cruise Control with Compensating for Vehicle Actuator Delays Based on Internal Model Control

Abstract

Theoretical analysis shows that cooperative adaptive cruise control (CACC) can increase the road throughput with a short distance between two vehicles through wireless communication. However, the communication delay and actuator delay of vehicles will affect the stability of the individual vehicle and vehicle string. To solve this problem, a mismatching model-based internal model control (IMC) and a constant time gap strategy are proposed, which can well counteract the influence of vehicle actuator delay in the CACC system. Finally, through the simulations of nominal and parameter perturbation conditions, it is proved that the control method in this paper is realizable and feasible. In addition, compared with the existing Smith prediction compensation, the mismatch model-based IMC method has the same minimum string stability time interval more robust in the case of parameter perturbation.