期刊
VEHICLE SYSTEM DYNAMICS
卷 54, 期 8, 页码 1147-1176出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2016.1193209
关键词
Connected vehicles; communication delays; string stability; nonlinear dynamics
资金
- National Science Foundation [1351456]
- Directorate For Engineering [1300319, 1351456] Funding Source: National Science Foundation
- Div Of Civil, Mechanical, & Manufact Inn [1300319, 1351456] Funding Source: National Science Foundation
Connected vehicle systems ( CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle ( V2V) communication. The concept of connected cruise control ( CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.
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