Abstract
Abstract Recent development in wireless technology enables communication between vehicles. The concept of co-operative adaptive cruise control (CACC)--which uses wireless communication between vehicles--aims at string stable behavior in a platoon of vehicles. "String stability" means any non-zero position, speed, and acceleration errors of an individual vehicle in a string do not amplify when they propagate upstream. In this article, we will discuss the string stability of CACC and evaluate its performance under varying packet loss ratios, beacon sending frequencies, and time headway settings in simulation experiments. The simulation framework is built up with a controller prototype, a traffic simulator, and a network simulator.
Highlights
In vehicular ad hoc networks (VANETs), on-board units (OBUs) give vehicles the ability of communication to make them “smart objects” more than mere transportation tools
For a beaconing packet loss ratio of 0% the cooperative adaptive cruise control (CACC) string stability overshoot and undershoot are more than 10 times smaller than those measured on the adaptive cruise control (ACC) system
Even for a beaconing packet loss ratio of 50% the CACC string stability overshoot and undershoot are more than 5 times smaller than those measured on the ACC system
Summary
In vehicular ad hoc networks (VANETs), on-board units (OBUs) give vehicles the ability of communication to make them “smart objects” more than mere transportation tools. “Dstandstill“ denotes the desired distance to the preceding vehicle at standstill; “h“ denotes the desired time headway and “V(t)” is the current host vehicle velocity Based on these inputs, the CACC/ACC controller can calculate a reference acceleration “a ref”. Wireless Medium a_real (or real) acceleration that is the “Vehicle” module’s output is referred to as “a real” This acceleration is used to model the behavior of the vehicle, and to calculate the vehicle’s resulting speed “v” and position “s” at the simulation time step. 4. After moving the vehicles, SUMO will send a trace back to MiXiM which comprises the vehicles’ acceleration, velocity and position generated by the CACC controller and MiXiM moves its communication nodes according to the vehicles’ position information from SUMO, followed by the transmission of a beacon by each communication node if its beacon timer has expired. Note that the received information is buffered before the start of the simulation time-step
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