Human-Aware Autonomous Control for Cooperative Adaptive Cruise Control (CACC) Systems

2015 ◽  
Author(s):  
Xujie Wang ◽  
Yue Wang
Keyword(s):  
Adaptive Cruise Control ◽  
Controller Design ◽  
Cruise Control ◽  
String Stability ◽  
Driving Experience ◽  
Traffic Efficiency ◽  
Cooperative Adaptive Cruise Control ◽  
Human Driver ◽  
Driving Assistance ◽  
System Controller

This paper discusses the design of a human-aware cooperative adaptive cruise control (CACC) system that (i) takes into account driver comfort in autonomous cruise control, and (ii) provides assistive corrections to avoid driver errors. To incorporate driver characteristics into system controller design, two self-learning algorithms are used to estimate driver’s preferred time headway. We then develop a human-like blending control for CACC based on a model predictive control (MPC)-type method, which integrates the driver comfort, traffic efficiency, and fuel economy criteria. Furthermore, a driving assistance controller is developed to help human driver to maintain string stability in platoon. Simulation results show that (i) the human-like CACC design can significantly improve driving experience, and (ii) with the help of the assistive controller, string stability is satisfied for both exclusively autonomous CACC and when the CACC switches to manual driving in a platoon.

Modeling of cooperative adaptive cruise control vehicle and its effect on traffic flow

2021 ◽  
pp. 2250022
Author(s):  
Jianzhong Chen ◽  
Yang Zhou ◽  
Jing Li ◽  
Huan Liang ◽  
Zekai Lv ◽  
...  
Keyword(s):  
Traffic Flow ◽  
Cooperative Control ◽  
Adaptive Cruise Control ◽  
Cruise Control ◽  
Lane Changing ◽  
Vehicle Communication ◽  
Traffic Efficiency ◽  
Vehicle To Vehicle ◽  
Road Capacity ◽  
Cooperative Adaptive Cruise Control

In this paper, an improved multianticipative cooperative adaptive cruise control (CACC) model is proposed based on fully utilizing multivehicle information obtained by vehicle-to-vehicle communication. More flexible, effective and practical spacing strategy is embedded into the model. We design a new lane-changing rule for CACC vehicles on the freeway. The rule considers that CACC vehicles are more inclined to form a platoon for coordinated control. Furthermore, we investigate the effect of CACC vehicles on two-lane traffic flow. The results demonstrate that introducing CACC vehicles into mixed traffic and forming CACC platoon to cooperative control can improve traffic efficiency and enhance road capacity to a certain extent.

Evaluation of Driver Car-Following Behavior Models for Cooperative Adaptive Cruise Control Systems

2017 ◽  
Vol 2622 (1) ◽  
pp. 84-95 ◽  
Author(s):  
Mizanur Rahman ◽  
Mashrur Chowdhury ◽  
Kakan Dey ◽  
M. Rafiul Islam ◽  
Taufiquar Khan
Keyword(s):  
Vehicle Dynamics ◽  
Adaptive Cruise Control ◽  
User Acceptance ◽  
Evaluation Framework ◽  
Cruise Control ◽  
String Stability ◽  
Maximum Acceleration ◽  
Car Following ◽  
Cooperative Adaptive Cruise Control ◽  
Behavior Models

A cooperative adaptive cruise control (CACC) system targeted to obtain a high level of user acceptance must replicate the driving experience in each CACC vehicle without compromising the occupant’s comfort. “User acceptance” can be defined as the safety and comfort of the occupant in the CACC vehicle in terms of acceptable vehicle dynamics (i.e., the maximum acceleration or deceleration) and string stability (i.e., the fluctuations in the vehicle’s position, speed, and acceleration). The primary objective of this study was to develop an evaluation framework for the application of a driver car-following behavior model in CACC system design to ensure user acceptance in terms of vehicle dynamics and string stability. The authors adopted two widely used driver car-following behavior models, ( a) the optimum velocity model (OVM) and ( b) the intelligent driver model (IDM), to prove the efficacy of the evaluation framework developed in this research for CACC system design. A platoon of six vehicles was simulated for three traffic flow states (uniform speed, speed with constant acceleration, and speed with constant deceleration) with different acceleration and deceleration rates. The maximum acceleration or deceleration and the sum of the squares of the errors of the follower vehicle speed were measured to evaluate user acceptance in terms of vehicle dynamics and string stability. Analysis of the simulation results revealed that the OVM performed better at modeling a CACC system than did the IDM in terms of acceptable vehicle dynamics and string stability.

Robust stabilization of longitudinal tracking for cooperative adaptive cruise control considering input saturation

2020 ◽  
Vol 34 (35) ◽  
pp. 2050409
Author(s):  
Youguo He ◽  
Xiaoxiao Tian ◽  
Jie Shen ◽  
Chaochun Yuan ◽  
Yingkui Du
Keyword(s):  
Adaptive Cruise Control ◽  
Control Method ◽  
Controller Design ◽  
Actuator Saturation ◽  
Kinematic Model ◽  
Input Saturation ◽  
Robust Stabilization ◽  
State Feedback Control ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control

This paper is concerned with the problem of constraint control for cooperative adaptive cruise control (CACC) with input saturation and input-additive uncertainties. An integrated longitudinal kinematic model of CACC system including vehicle model and constant time headway is established taking into account input saturation and input-additive uncertainties. According to the system’s robustness requirements under input saturation, the saturation control method is introduced. In order to achieve robust global stabilization of the system, a low-gain state feedback control law is designed by using linear low-gain feedback and gain scheduling. Meanwhile, in order to avoid the saturation of the control system, the low gain parameter [Formula: see text] is introduced into the controller design. Finally, the simulation of homogeneous and heterogeneous platoons is carried out by MATLAB/Simulink, which verifies the feasibility and effectiveness of the designed controller. Compared with the SMC controller, saturation controller successfully suppresses the acceleration amplification in the process of propagation along the vehicle platoon, avoids actuator saturation and realizes the stability of CACC system.

Smooth-Switching Control-Based Cooperative Adaptive Cruise Control by Considering Dynamic Information Flow Topology

2020 ◽  
Vol 2674 (4) ◽  
pp. 444-458
Author(s):  
Anye Zhou ◽  
Siyuan Gong ◽  
Chaojie Wang ◽  
Srinivas Peeta
Keyword(s):  
Information Flow ◽  
Adaptive Cruise Control ◽  
Switching Control ◽  
Cruise Control ◽  
Flow Topology ◽  
Dynamic Information ◽  
String Stability ◽  
Kalman Predictor ◽  
Cooperative Adaptive Cruise Control ◽  
Smooth Switching

Vehicle-to-vehicle communications can be unreliable because of interference and information congestion, which leads to the dynamic information flow topology (IFT) in a platoon of connected and autonomous vehicles. Some existing studies adaptively switch the controller of cooperative adaptive cruise control (CACC) to optimize string stability when IFT varies. However, the difference of transient response between controllers can induce uncomfortable jerks at switching instances, significantly affecting riding comfort and jeopardizing vehicle powertrain. To improve riding comfort while maintaining string stability, the authors introduce a smooth-switching control-based CACC scheme with IFT optimization (CACC-SOIFT) by implementing a bi-layer optimization model and a Kalman predictor. The first optimization layer balances the probability of communication failure and control performance optimally, generating a robust IFT to reduce controller switching. The second optimization layer adjusts the controller parameters to minimize tracking error and the undesired jerk. Further, a Kalman predictor is applied to predict vehicle acceleration if communication failures occur. It is also used to estimate the states of preceding vehicles to suppress the measurement noise and the acceleration disturbance. The effectiveness of the proposed CACC-SOIFT is validated through numerical experiments based on NGSIM field data. Results indicate that the CACC-SOIFT framework can guarantee string stability and riding comfort in the environment of dynamic IFT.

scholarly journals Assessment of ACC and CACC systems using SUMO

10.29007/r343 ◽  
2018 ◽  
Author(s):  
Kallirroi N. Porfyri ◽  
Evangelos Mintsis ◽  
Evangelos Mitsakis
Keyword(s):  
Adaptive Cruise Control ◽  
Flow Characteristics ◽  
Simulation Models ◽  
Cruise Control ◽  
Traffic Efficiency ◽  
Cooperative Adaptive Cruise Control ◽  
Automation Systems ◽  
Full Speed ◽  
Car Following Model ◽  
The Impact

Emerging developments in the field of automotive technologies, such as Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC) systems, are expected to enhance traffic efficiency and safety on highways and urban roads. For this reason, substantial effort has been made by researchers to model and simulate these automation systems over the last few years. This study aims to integrate a recently developed car-following model for ACC and CACC equipped vehicles in the microscopic traffic simulation tool SUMO; the implemented ACC/CACC simulation models originate from empirical ones, ensuring the collision-free property in the full-speed-range operation. Simulation experiments for different penetration rates of cooperative automated vehicles, desired time-gap settings and network topologies are conducted to test the validity of the proposed approach and to assess the impact of ACC and CACC equipped vehicles on traffic flow characteristics.

Sign in / Sign up

Export Citation Format

Share Document