Cooperative Adaptive Cruise Control (CACC) systems which enable vehicle following with tight inter-vehicle head-way offer unique advantage to promote transportation mobility. CACC systems are a step forward the commercially available Adaptive Cruise Control (ACC) systems as they utilize inter-vehicle wireless communication for more advanced control system design. This work studies different wireless communication topologies, i.e., receiving wireless communication from one or more preceding vehicles, and different error-regulation controllers, i.e., linear vs non-linear, for CACC. Through robot following experiments, we show that appropriately designed CACC systems can all achieve vehicle following. For emergency hard braking, however, a non-linear vehicle-following controller which generates strong braking action at short inter-vehicle distances can reduce the risk of collision.
- Dynamic Systems and Control Division
Experimental Evaluation of Different Controllers for Cooperative Adaptive Cruise Control
Lin, Y, & Eskandarian, A. "Experimental Evaluation of Different Controllers for Cooperative Adaptive Cruise Control." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T44A006. ASME. https://doi.org/10.1115/DSCC2017-5374
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