Article
Chemistry, Analytical
Yi Liu, Wei Wang
Summary: This paper introduces a Safety Reinforced Cooperative Adaptive Cruise Control (SR-CACC) strategy to resist unexpected communication failures in a vehicle platoon. Experimental results show that the SR-CACC strategy can significantly improve the safety performance of the organized vehicle platoon in extremely poor communication environments.
Article
Engineering, Civil
Zheng Chen, Byungkyu Brian Park
Summary: In this paper, a CACC algorithm with unconnected vehicles (CACCu) is proposed to improve the usability of CACC in mixed traffic. By utilizing the information from a connected preceding vehicle, CACCu can closely follow an unconnected preceding vehicle. The algorithm maintains string stability and outperforms existing ACC and CCC in terms of string stability, ride comfort, safety maintenance, and fuel consumption.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Transportation Science & Technology
Haoran Wang, Jintao Lai, Xianhong Zhang, Yang Zhou, Shen Li, Jia Hu
Summary: The research proposes a Cooperative Adaptive Cruise Control Lane Change (CACCLC) controller, which shows enhanced lane-change capability, improved success rate, and string stability in dense traffic. Compared to conventional methods, the controller demonstrates significant improvements in both competence and efficiency on arterials and freeways.
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
(2022)
Article
Transportation Science & Technology
Yuqin Zhang, Bin Tian, Zhigang Xu, Siyuan Gong, Ying Gao, Zhichao Cui, Xiguang Chen
Summary: This paper proposes a dynamic controller gains tuning algorithm to ensure the string stability of cooperative adaptive cruise control (CACC) platoon systems. The algorithm synthesizes a leading vehicle acceleration curve based on the local traffic flow characteristics and uses an improved particle swarm optimization (PSO) algorithm to dynamically tune the gains of the CACC controller. Experimental results demonstrate the effectiveness of the proposed algorithm in suppressing disturbance and outperforming traditional methods.
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
(2022)
Article
Transportation
Haoran Wang, Xin Li, Xianhong Zhang, Jia Hu, Xuerun Yan, Yongwei Feng
Summary: This research proposes a CACC controller with successive platoon lane-change capability to improve the mobility of CACC. The results show enhanced platoon lane-change competence and efficiency, as well as increased robustness against congestion. The proposed controller is ready for real-time implementation.
JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Engineering, Civil
Yun-Chu Hung, Kuilin Zhang
Summary: This study analyzed the impacts of cooperative adaptive cruise control (CACC) on string stability. The results showed that a minimum constant time headway is required for stability in homogeneous traffic flow. Additionally, the length of the constant time headway and control time interval were positively correlated with stability, while the control parameter had a negative correlation. For heterogeneous traffic flow, CACC vehicles maintained string stability better than connected vehicles (CVs) and autonomous vehicles (AVs).
TRANSPORTATION RESEARCH RECORD
(2022)
Article
Engineering, Civil
Yiming Zhang, Zhizhou Wu, Yu Zhang, Zhiying Shang, Ping Wang, Qingquan Zou, Xianhong Zhang, Jia Hu
Summary: In this study, a Human-Lead-Platoon CACC (HLP-CACC) controller is proposed to include human drivers in the platooning process of connected and automated vehicles. The controller regulates both longitudinal and lateral control, making the followers in an HLP-CACC platoon fully autonomous. The proposed algorithm is validated through simulation tests and field tests, and it shows promising results.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2022)
Article
Physics, Multidisciplinary
L. C. Davis
Summary: A new compensation method for the vehicle mechanical response in a platoon of identical connected adaptive cruise control (CACC) vehicles is presented, where each vehicle wirelessly transmits its desired acceleration and sensors such as radar or lidar measure the velocity of the preceding vehicle and the gap between vehicles. In the absence of sensor delay and communication errors, the compensation method yields a transfer function identical to that for instantaneous response, demonstrating its effectiveness through simulations and proving the string stability of the platoon.
PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS
(2021)
Article
Computer Science, Information Systems
Angelo Coppola, Dario Giuseppe Lui, Alberto Petrillo, Stefania Santini
Summary: This work addresses the leading-tracking control problem for heterogeneous and uncertain nonlinear autonomous vehicles. The vehicles communicate their status information over a wireless communication network and engage in cooperative movements in extraurban traffic environment. A novel robust distributed PID-like control protocol is developed to ensure that all vehicles within the platoon robustly track the behavior of the leader, despite uncertainties and network switching. The effectiveness of the approach is evaluated through simulation analysis.
INFORMATION SCIENCES
(2023)
Article
Environmental Studies
Fangwu Ma, Yu Yang, Jiawei Wang, Xinchen Li, Guanpu Wu, Yang Zhao, Liang Wu, Bilin Aksun-Guvenc, Levent Guvenc
Summary: The Eco-CACC proposed in this study combines eco-driving and car-following techniques to minimize energy consumption of automated vehicle platoons. Testing results show that Eco-CACC can significantly improve energy performance compared to manual driving.
TRANSPORTATION RESEARCH PART D-TRANSPORT AND ENVIRONMENT
(2021)
Article
Engineering, Civil
Yu Zhang, Yu Bai, Meng Wang, Jia Hu
Summary: In this research, an optimal control-based Cooperative Adaptive Cruise Control (CACC) system is proposed, which enforces a target time gap between platoon members in the space domain and models third-order vehicle dynamics for improved control precision. The system demonstrates improved robustness, safety, and stability, outperforming existing controllers in terms of fuel consumption and CO2 emission reduction. With a fast computation speed, the proposed system shows potential for real-time application.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2021)
Article
Engineering, Mechanical
Guangming Nie, Bo Xie, Zixu Hao, Hangwei Hu, Yantao Tian
Summary: This paper introduces a distributed model predictive control algorithm to address the cruise control problem of a heterogeneous platoon. The algorithm considers the dynamic parameter differences of each vehicle in the platoon and designs cost functions and constraints for local optimal control problems to ensure the string stability of the platoon.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
(2022)
Article
Automation & Control Systems
Manjiang Hu, Lingkun Bu, Yougang Bian, Hongmao Qin, Ning Sun, Dongpu Cao, Zhihua Zhong
Summary: In this paper, a unified hierarchical framework is proposed for cooperative control of connected vehicles (CVs) with heterogeneous model parameters and structures. The framework separates neighboring information interaction from local dynamics control, and includes an observer and a tracking controller to address the heterogeneity in vehicle parameters and structures. The stability and convergence of the proposed method are analyzed, and numerical simulations and field experiments validate its effectiveness.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2022)
Article
Engineering, Electrical & Electronic
Zhiyun Deng, Jiaxin Fan, Yanjun Shi, Weiming Shen
Summary: This paper proposes a coevolutionary algorithm to optimize longitudinal trajectories of multiple vehicles during the cooperative platoon formation process. The algorithm adopts an adaptive encoding scheme to represent trajectories and decomposes the high-dimensional problem into smaller subproblems. The experimental results indicate the superiority of the proposed approach in optimality and stability for real-life applications.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Engineering, Civil
Yudong Lin, Anuj Tiwari, Brian Fabien, Santosh Devasia
Summary: This paper proposes an approach to improve the performance of constant-spacing vehicle platoons by mitigating large delays and communication loss. The approach achieves a significant reduction in settling time to consensus under large communication delays and minimizes steady-state errors under loss of communication.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)