Leaderless Cooperative Adaptive Cruise Control Based on the Constant Time-Gap Spacing Policy

• 成果类型: Article
• 署名作者: Rezaee, Hamed; Parisini, Thomas; Polycarpou, Marios M.
• 署名单位: Imperial College London; Imperial College London; University of Trieste; University of Cyprus; University of Cyprus
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3301308
• 发表日期: 2024
• 页码: 659-666
• 关键词: Cruise control; Formation control; Eigenvalues and eigenfunctions; Symmetric matrices; communication networks; Vehicle dynamics; trajectory; Connected vehicles; consensus; cooperative adaptive cruise control (CACC); vehicular platoons

摘要

Cooperative adaptive cruise control (CACC) in leaderless scenario is addressed in this article. The common idea in CACC is that a leader vehicle determines the steady-state speed of the platoon without considering feedback from other vehicles. The main contribution of this article is to propose a control strategy such that each vehicle in a leaderless platoon keeps a desired distance from its preceding vehicle, determined based on the constant time-gap spacing policy, and simultaneously, all the vehicles reach consensus upon their speeds. Moreover, whereas each vehicle needs access to the information of some neighboring vehicles (via a communication network) to achieve speed consensus, we assume that it has access to the relative distance of just one possible preceding vehicle (using a radar/lidar). Simulation results illustrate the performance of the proposed control strategy.