Towards on-the-road implementation of cooperative adaptive cruise control

This paper presents a setup for cooperative adaptive cruise control for which feasibility of the actual implementation is one of the main objectives. The approach considers communication with the directly preceding vehicle only, can deal with heterogeneous traffic, accounts for communication delay, and enables graceful degradation to standard adaptive cruise control if communication fails. The stability of a string of vehicles is analyzed using a frequency-domain approach

String-stable CACC design and experimental validation, a frequency-domain approach

The design of a Cooperative Adaptive Cruise Control (CACC) system and its practical validation are presented. The proposed CACC system includes a wireless communication link with the nearest preceding vehicle. The CACC design targets string-stable system behavior for a platoon of vehicles driving at small inter-vehicle distances. The string-stability characteristics of the system are assessed using a frequency-domain approach. Considering a velocity-dependent inter-vehicle spacing policy, it is shown that the communicated information enables small inter-vehicle distances, while maintaining string-stable behavior, whereas for a constant, velocity-independent inter-vehicle spacing, string stability can not be guaranteed. To validate the theoretical results, experiments are performed with two CACC-equipped vehicles

Cooperative adaptive cruise control, design and experiments

The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances, while maintaining string stable behavior. The theoretical results are validated by experiments with two CACC-equipped vehicles. Measurement results showing string stable as well as string unstable behavior are discussed