Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration
Cooperative adaptive cruise control (CACC) has a potential to improve traffic throughput, fuel efficiency and vehicle safety. The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unre...
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| Veröffentlicht in: | IEEE transactions on intelligent transportation systems 2021-09, Vol.22 (9), p.5589-5598 |
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| creator | Sawant, Jaswandi Chaskar, Uttam Ginoya, Divyesh |
| description | Cooperative adaptive cruise control (CACC) has a potential to improve traffic throughput, fuel efficiency and vehicle safety. The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method. |
| doi_str_mv | 10.1109/TITS.2020.2987984 |
| format | Article |
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The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method.</description><identifier>ISSN: 1524-9050</identifier><identifier>EISSN: 1558-0016</identifier><identifier>DOI: 10.1109/TITS.2020.2987984</identifier><identifier>CODEN: ITISFG</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Acceleration ; Actuators ; Adaptive control ; Cooperative Adaptive Cruise Control (CACC) ; Cooperative control ; Cruise control ; disturbance observer (DO) ; Disturbance observers ; Dynamic stability ; Robust control ; Sliding mode control ; sliding mode control (SMC) ; Stability criteria ; Strings ; Uncertainty ; Vehicle dynamics ; Vehicle safety ; Wireless communications</subject><ispartof>IEEE transactions on intelligent transportation systems, 2021-09, Vol.22 (9), p.5589-5598</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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The CACC utilizes onboard sensors and a wireless communication to achieve vehicle stability and string stability of a platoon. The performance of CACC is degraded due to unreliable wireless communication and uncertain dynamics of the vehicle. In this paper, a disturbance observer based sliding mode control is proposed for the control of cooperative adaptive cruise control system. This scheme estimates the uncertainty present in the actuator dynamics and the acceleration of preceding vehicle as a lumped disturbance. The proposed strategy addresses practical issues such as unavailability of preceding vehicle acceleration and range of uncertainty in the vehicle dynamics. The stability of individual vehicles and the string stability of a platoon are derived. The performance of the proposed scheme is verified by considering various traffic scenarios, and it is compared with an existing method.</description><subject>Acceleration</subject><subject>Actuators</subject><subject>Adaptive control</subject><subject>Cooperative Adaptive Cruise Control (CACC)</subject><subject>Cooperative control</subject><subject>Cruise control</subject><subject>disturbance observer (DO)</subject><subject>Disturbance observers</subject><subject>Dynamic stability</subject><subject>Robust control</subject><subject>Sliding mode control</subject><subject>sliding mode control (SMC)</subject><subject>Stability criteria</subject><subject>Strings</subject><subject>Uncertainty</subject><subject>Vehicle dynamics</subject><subject>Vehicle safety</subject><subject>Wireless communications</subject><issn>1524-9050</issn><issn>1558-0016</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kF9LwzAUxYMoOKcfQHwp-NyZpEmaPI7hn8FA0elraJNb19E1NWlFv72pG3u6h3N_5144CF0TPCMEq7v1cv02o5jiGVUyV5KdoAnhXKYYE3E6aspShTk-RxchbKPLOCET9PPqyiH0ycK1vXdN4qooXQe-6OtvSOa26P7Fwg91gCNWt0m_iesyQGtgTC3byvldTLk22m7okxcPBmzdfiYfsKlNE3FjoPk_7dpLdFYVTYCrw5yi94f79eIpXT0_LhfzVWqoyvqU25xbxpgoMauUyQtZCCGAYmGVEVgKaaih2NqiyETOWXQtNarMeGaEBcim6HZ_t_Pua4DQ660bfBtfasqFxELlSkWK7CnjXQgeKt35elf4X02wHgvWY8F6LFgfCo6Zm32mBoAjr7AkSrHsD9PVeIg</recordid><startdate>20210901</startdate><enddate>20210901</enddate><creator>Sawant, Jaswandi</creator><creator>Chaskar, Uttam</creator><creator>Ginoya, Divyesh</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| ispartof | IEEE transactions on intelligent transportation systems, 2021-09, Vol.22 (9), p.5589-5598 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Acceleration Actuators Adaptive control Cooperative Adaptive Cruise Control (CACC) Cooperative control Cruise control disturbance observer (DO) Disturbance observers Dynamic stability Robust control Sliding mode control sliding mode control (SMC) Stability criteria Strings Uncertainty Vehicle dynamics Vehicle safety Wireless communications |
| title | Robust Control of Cooperative Adaptive Cruise Control in the Absence of Information About Preceding Vehicle Acceleration |
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