Abstract
Coordinated adaptive cruise control (CACC) is a type of adaptive cruise control (ACC) that enables the driver to set the vehicle speed and the distance between current and preceding vehicles as well as helps to gather the data from vehicles around it and form a platoon. The main objectives for the paper are to implement coordinated cruise control, to minimize steady state spacing error while maintaining the string stability and to get earlier settling of string stability under external disturbances. Design, simulation, and testing of CACC under various conditions have been performed. Both feedback and feed forward controls have been employed for implementing the system model with controllers. It is assumed that all vehicles are having wireless access to share the speed and distance related information. It is observed that settling time for the string stability has been improved. The model has been simulated under disturbances and results are compared with existing ACC control. The simulation results validate proposed model in terms of settling of string stability.
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