Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge

In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves

Robust Stability Analysis for Connected Vehicle Systems

For implementation in real traffic, connected vehicle systems should be designed to be robust against uncertainties arising from human-driven vehicles. Assuming that the bounds of uncertainties are known, we propose a frequency domain approach to guarantee robust string stability and to select optimal control parameters. The method is demonstrated by two case studies

Low-Speed Cooperative Car-Following Fuzzy Controller for Cybernetic Transport Systems

International audience— This paper describes the development of a Coop-erative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitu-dinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios

Consensus and Platooning in Multiagent Networks

First, a distributed algorithm to accelerate the convergence of a class of linear time-invariant consensus-based distributed algorithms is proposed. Then, it is proven that, given a convergent distributed algorithm, the acceleration algorithm can ensure convergence and consensus. Also, the parameter that can ensure the largest possible convergence speed was determined. Furthermore, it is shown that some constraints on the equilibrium state of the original algorithms also apply to the equilibrium state of the acceleration algorithm. Finally, some examples are presented to validate the effectiveness of the acceleration algorithm. A method that allows obtaining convergence value within a finite amount of time is also discussed. Then, this paper studies the longitudinal string stability of two cooperative adaptive cruise-control(CACC) equipped 2-vehicle platoons implementing different inter-platoon communication topologies. CACC utilizes wireless communication between vehicles to improve the performance of the tested and commercialized adaptive cruise control(ACC). Due to 2-vehicle CACC platoon being well studied and tested, inter-platoon communication is used to connect multiple 2-vehicle platoons and therefore accommodate more vehicles to form a larger platoon for better energy saving. Frequency domain approach is used to carry out string stability analysis. A general form of feedforward filter was derived and different inter-platoon communication topologies are analytically proven to be string stable under delay-free environment. The minimum headway time of each communication topology is then presented to show the effect of communication structure and delay on string stability