Compensation of Communication Delays in a Cooperative ACC System
| Autor: | Henk Nijmeijer, Haitao Xing, Jeroen Ploeg |
|---|---|
| Přispěvatelé: | Dynamics and Control, ICMS Core, EAISI Foundational, EAISI Mobility |
| Rok vydání: | 2020 |
| Předmět: |
wireless communication delay
Computer Networks and Communications Computer science business.industry String (computer science) Aerospace Engineering Throughput Smith predictor string stability Cooperative adaptive cruise control (CACC) master-slave architecture Compensation (engineering) Cooperative Adaptive Cruise Control Control theory Automotive Engineering Wireless Platoon Upstream (networking) Electrical and Electronic Engineering business |
| Zdroj: | IEEE Transactions on Vehicular Technology, 69(2):8933478, 1177-1189. Institute of Electrical and Electronics Engineers |
| ISSN: | 1939-9359 0018-9545 |
| DOI: | 10.1109/tvt.2019.2960114 |
| Popis: | Cooperative adaptive cruise control (CACC) employs intervehicle wireless communications to safely drive at short intervehicle distances, which improves road throughput. The underlying technical requirement to achieve this benefit is formulated by the notion of string stability, requiring the attenuation of the effects of disturbances in upstream direction. The wireless communication delay, however, significantly compromises string stability. In order to compensate for time delays and thus reduce the minimum string-stable time gap, a Smith predictor can be applied. For application of a Smith predictor, the time delay needs to be in a series connection with the plant to be controlled, which is realized by introducing a master-slave architecture for CACC. As a result, information exchange appears to become bidirectional, while the control scheme still follows the one-vehicle look-ahead strategy. Feasibility of both the master-slave CACC strategy and the Smith predictor is explicitly analyzed. With the proposed control scheme, the minimum string-stable time gap can be significantly decreased, even considering communication delay uncertainty. The results are validated using simulations with a platoon of CACC-equipped vehicles. |
| Databáze: | OpenAIRE |
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