Leaderless cooperative adaptive cruise control based on constant time-gap spacing policy
File(s)
Author(s)
Rezaee, Hamed
Parisini, Thomas
Polycarpou, Marios M
Type
Journal Article
Abstract
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.
Date Issued
2024-01
Date Acceptance
2023-07-17
Citation
IEEE Transactions on Automatic Control, 2024, 69 (1), pp.659-666
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers
Start Page
659
End Page
666
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
69
Issue
1
Copyright Statement
Copyright © 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://dx.doi.org/10.1109/tac.2023.3301308
Publication Status
Published
Date Publish Online
2023-08-02