Affiliation:
1. Department of Electrical Engineering, Incheon National University, Incheon 22012, Republic of Korea
Abstract
Cooperative adaptive cruise control (CACC) is one of the control methods that improves fuel efficiency by allowing multiple vehicles to drive in groups. In this paper, we propose a robust CACC with a heterogeneous vehicle using a disturbance observer. The longitudinal vehicle dynamics, including the engine dynamics, have been modeled as a first-order model using a time constant. However, the simplified first-order model varies in accuracy depending on the dynamic driving situation due to engine performance and air drag force. Designing a more accurate higher-order model might be a solution, but this has a high computational cost. Thus, we propose an augmented state observer for model uncertainties and disturbances. The proposed method makes it possible to design a CACC using nominal parameters without considering dynamic changes to the model parameters. Also, the proposed method can directly compensate for disturbances, compared to the adaptation technique, while also satisfying string stability. The proposed method was validated via computational simulations for heterogeneous traffic and experimental evaluation.
Funder
Incheon National University
Ministry of Trade, Industry, and Energy (MOTIE), Korea
Reference40 articles.
1. Automated vehicle control developments in the PATH program;Shladover;IEEE Trans. Veh. Technol.,1991
2. Wang, J., and Rajamani, R. (2002, January 8–10). Adaptive cruise control system design and its impact on highway traffic flow. Proceedings of the American Control Conference, Anchorage, AK, USA.
3. Human driving data-based design of a vehicle adaptive cruise control algorithm;Moon;Veh. Syst. Dyn.,2008
4. A comprehensive review of the development of adaptive cruise control systems;Xiao;Veh. Syst. Dyn.,2010
5. Batkovic, I., Zanon, M., Ali, M., and Falcone, P. (2019, January 25–28). Real-time constrained trajectory planning and vehicle control for proactive autonomous driving with road users. Proceedings of the 2019 18th European Control Conference (ECC), Naples, Italy.