Abstract
Cooperative driving based on V2X communication has been widely studied for its great potential in improving the safety and efficiency of road transportation systems. Under the constraints of passenger comfort, the safety and speed limit of the vehicles can be optimized by the cooperative adaptive cruise control (CACC) algorithm. Within a platoon, the lateral controller and the longitudinal controller are designed and implemented following the model predictive control (MPC) framework. The goal of the control algorithm is to reduce the tracking error, so we formulate the tracking control of the system as a nonlinear problem and solve it by the particle swarm optimization (PSO) algorithm. This paper simulates the proposed algorithm in different scenes, and the simulation results show that the controllers can improve the reliability of the CACC system effectively.
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