Study of cooperative adaptive cruise control system based on model predictive control

Abstract

In order to reduce the speed error and spacing error of vehicles during driving in cooperative adaptive cruise system, cooperative adaptive cruise of queuing vehicles is studied by an improved model predictive control algorithm. Firstly, a CACC following model with constant time spacing is established based on fixed time interval using C-V2X vehicular wireless communication technology. Second, relaxation variables are introduced to relax the constraint limits to find feasible solutions, an improved model prediction control algorithm is proposed, and a CACC system based on the prediction model is established. Then, a joint simulation platform is built using MATLAB/Simulink and TruckSim software to compare and analyze the speed error and spacing error of the two algorithms before and after the improvement for smooth vehicle following and emergency braking. The results show that the speed error is controlled within 2.8m/s and the spacing error is controlled within 1.4m with the improved control algorithm. It can be seen that the improved control algorithm can effectively reduce the fluctuation of vehicle speed in the queue and improve the control accuracy.