Time-delay feedback cooperative adaptive cruise control of connected vehicles by heterogeneous channel transmission

Xiulan Song,Limin Meng,Xiaoxin Lou

doi:10.1177/0020294019837997

Abstract

In this paper, we consider the cooperative adaptive cruise control problem of connected autonomous vehicles networked by heterogeneous wireless channel transmission. The cooperative adaptive cruise control model with variable input delays is established to describe the varying time-delays induced from vehicular actuators and heterogeneous channel transmission. Then a set of decentralized time-delay feedback cooperative adaptive cruise control controllers is computed in such way that each vehicle evaluates its own adaptive cruise control strategy using only neighborhood information. In order to establish string stability of the connected vehicle platoon with the decentralized controllers, the sufficient conditions are obtained in the form of linear matrix inequalities. The scenarios, consisting of four different cars with three heterogeneous wireless channels, are used to demonstrate the effectiveness of the presented method.

Highlights

In recent years, increasing traffic congestion exacerbates such problems as drivers’ workload, environment pollution, waste of energy and so on.1,2 Much efforts have been devoted to autonomous highway/vehicle system to lessen these problems
Cooperative adaptive cruise control (CACC) has been presented to ensure safe car-following using distance and/or speed measurements and state information transmitted among vehicles via V2X.6,7
We presented a new cooperative adaptive cruise control (CACC) method for time-delay autonomous vehicles connected by heterogeneous channel transmission

Summary

Introduction

In recent years, increasing traffic congestion exacerbates such problems as drivers’ workload, environment pollution, waste of energy and so on. Much efforts have been devoted to autonomous highway/vehicle system to lessen these problems. Adaptive cruise control (ACC) is the earliest autonomous vehicle system. Since ACC primarily aims to enhancing driving comfort, a relative large inter-vehicle space is necessary to avoid rear-end collision and the fuel consumption and emissions increase. By vehicle-to-vehicle (V2V) and vehicle-toinfrastructure (V2I) wireless communications, vehicles are capable of communicating with other ones and make up a connected vehicle system. In such system, cooperative adaptive cruise control (CACC) has been presented to ensure safe car-following using distance and/or speed measurements and state information transmitted among vehicles via V2X.6,7. By sharing information of the preceding vehicle in real-time, the host vehicles can alter their driving behaviors to reduce the drivers’ workload and to avoid the rear-end accidents. Cooperative adaptive cruise control (CACC) has been presented to ensure safe car-following using distance and/or speed measurements and state information transmitted among vehicles via V2X.6,7 Specially, it has been shown that CACC allows for a smaller intervehicle distance than the conventional ACC and less fuel is consumed to keep a safe space and effectively raises road capability. by sharing information of the preceding vehicle in real-time, the host vehicles can alter their driving behaviors to reduce the drivers’ workload and to avoid the rear-end accidents.

Objectives

Conclusion