On multi-rate prediction governor for CACC system with sensor errors and communication delays

Abstract

Among automated driving technologies, ACC (Adaptive Cruise Control), which controls the distance between vehicles and relative speed, is becoming popular. CACC (Cooperative ACC), which is an advanced ACC system, uses V2V communication and its sensors to control the distance between vehicles. Sensor errors and communication delays have a significant impact on control performance of CACC. In this study, error correction of CACC is performed using accurate information with delay. A noise shaping feedforward controller called a predictive governor is used for this purpose. When applying CACC system to the predictive governor, we cannot design the stable prediction governor due to the relative order or zero characteristics of the CACC system. Therefore, this paper proposes multi-rate type prediction governor that can be applied to the CACC system. The results show that the use of multi-rate enables the application of the prediction governor to CACC systems, and more accurate temporary stopping is achieved with sensor noise and delayed communication.