Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy

Year 2024, , 397 - 403, 30.09.2024

Lich Luu , Thanh Long Phan , Huu Truyen Pham , Thang Hoang , Minh-tien Le

https://doi.org/10.30939/ijastech..1469674

Abstract

Traffic congestion is becoming more prevalent as the number of vehicles on the roads continues to rise.To shorten travel times and enhance driver comfort, a range of Advanced Driver Assistance Systems (ADAS) has been developed to assist drivers in urban areas and on highways. The demand for increasing road capacity has introduced the concept of vehicle platooning, where the use of the Adaptive Cruise Control (ACC) system is a key function within the advanced driver assistance (ADAS) technology, this technology manages the vehicle's longitu-dinal control in specific driving conditions. Cars equipped with ACC can efficiently maintain a set distance from the vehicle ahead, easing the driver’s workload while offering advantages such as improved road capacity, lower fuel consumption, and reduced pollution emissions. However, they can be susceptible to string instability, resulting in the amplification of oscillations caused by speed variations along the platoon's rear. This paper presents a string stability analysis of car platoons equipped with ACC system based on a heuristic method by choosing of the constant time headway policy (CTHP). The constant time headway policy selection for string stability is based on the Nyquist diagram of the transfer function of the spacing errors between two cars. A platoon operated by using distance-based ACC control structures is implemented. These structures employ a linear quadratic regulator (LQR) using a dual integrator. The simulation results were acquired by modeling and simulating the studied platoon within Matlab/Simulink.

Keywords

String Stability, ADAS, Linear Quadratic Integral Regulator, Platooning, Adaptive Cruise Control

References

• [1] Vegamoor VK, Darbha S, Rajagopal KR. A review of auto-matic vehicle following systems. Journal of the Indian Insti-tute of Science. 2019; 99:567-587. https://doi.org/10.1007/s41745-019-00143-7
• [2] Claussmann L, Revilloud M, Gruyer D, Glaser S. A review of motion planning for highway autonomous driving. IEEE Transactions on Intelligent Transportation Systems. 2019;21(5):1826-1848. https://doi.org/ 10.1109/TITS.2019.2913998
• [3] Iancu DT, Mihai NA, GHITA SA, Florea AM. Trajectory Prediction Using Video Generation in Autonomous Driving. Studies in Informatics and Control. 2022;31(1):37-48. https://doi.org/10.24846/v31i1y202204
• [4] Kabasakal B, Üçüncü M. The design and simulation of adaptive cruise control system. International Journal of Au-tomotive Science And Technology. 2022;6(3):242-256. https://doi.org/10.30939/ ijastech..1038371
• [5] Iancu DT, Florea AM. An improved vehicle trajectory pre-diction model based on video generation. Studies in Infor-matics and Control. 2023;32(1):25-36. https://doi.org/10.24846/v32i1y202303
• [6] Adıgüzel F. Doğrusal karesel regülatör ve ileri beslemeli kontrol yöntemi ile otonom araçlar için kooperatif uyar-lamalı hız kontrol sistemi. Politeknik Dergisi. 2023;27(2):3-12. https://doi.org/10.2339/politeknik.1170311
• [7] Ma K, Wang H, Ruan T. Analysis of road capacity and pol-lutant emissions: Impacts of connected and automated vehi-cle platoons on traffic flow. Physica A: Statistical Mechanics and its Applications. 2021;583:126301. https://doi.org/ 10.1016/j.physa.2021.126301
• [8] Guo G, Yuan WL. Bidirectional platoon control of Arduino cars with actuator saturation and time-varying delay. Journal of Control Engineering and Applied Informatics. 2017;19(1):37-48.
• [9] Luu DL, Lupu C. Vehicle string using spacing strategies for cooperative adaptive cruise control system. UPB Sci. Bull., Series C. 2021;83(1):91-106.
• [10] Swaroop DV. String stability of interconnected systems: An application to platooning in automated highway systems. University of California, Berkeley; 1994.
• [11] Hu SG, Wen HY, Xu L, Fu H. Stability of platoon of adap-tive cruise control vehicles with time delay. Transportation Letters. 2019;11(9):506-515. https://doi.org/ 10.1080/19427867.2017.1407488
• [12] Xiao L, Gao F. Practical string stability of platoon of adap-tive cruise control vehicles. IEEE Transactions on intelligent transporttion systems. 2011; 12(4):1184-1194. https://doi.org/ 10.1109/TITS.2011.2143407
• [13] Tiganasu A, Lazar C, Caruntu CF, Dosoftei C. Comparative analysis of advanced cooperative adaptive cruise control al-gorithms for vehicular cyber physical systems. Journal of Control Engineering and Applied Informatics. 2021;23(1):82-92.
• [14] Öncü S, Ploeg J, Van de Wouw N, Nijmeijer H. Cooperative adaptive cruise control: Network-aware analysis of string stability. IEEE Transactions on Intelligent Transportation Systems. 2014;15(4):1527-1537. https://doi.org/ 10.1109/TITS.2014.2302816
• [15] Luu DL, Lupu C, Alshareefi H. A Comparative Study of Adaptive Cruise Control System based on Different Spacing Strategies. Journal of Control Engineering and Applied In-formatics. 2022;24(2):3-12.
• [16] Guo XG, Wang JL, Liao F, Teo RS. String stability of heter-ogeneous leader-following vehicle platoons based on con-stant spacing policy. In2016 IEEE Intelligent Vehicles Sym-posium, 2016, pp. 761-766. https://doi.org/ 10.1109/IVS.2016.7535473
• [17] Yuan H, Liu R, Zhong L, Zhang Y, Lin L, Huang K. Investi-gation on multi-objective following control algorithm for ve-hicle adaptive cruise control under cruise state. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2024;238(5):2-16. https://doi.org/ 10.1177/09544070241238298
• [18] Gülden B, Emirler MT. Investigation of Different Communi-cation Topologies for Cooperative Adaptive Cruise Control Systems. International Journal of Automotive Science And Technology. 2024;8(1):150-158. https://doi.org/10.30939/ijastech..1368820
• [19] Besselink B, Johansson KH. String stability and a delay-based spacing policy for vehicle platoons subject to disturb-ances. IEEE Transactions on Automatic Control. 2017;62(9):4376-4391. https://doi.org/ 10.1109/TAC.2017.2682421
• [20] Hung NV, Luu DL, Dong NS, Lupu C. Reducing time head-way for cooperative vehicle following in platoon via infor-mation flow topology. Journal of Control Engineering and Applied Informatics. 2024;26(2):77-87. https://doi.org/ 10.61416/ceai.v26i2.8834
• [21] Darbha S, Konduri S, Pagilla PR. Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information. IET Intelligent Transport Systems. 2020;14(6):589-600. https://doi.org/10.1049/iet-its.2019.0204
• [22] Konduri S, Pagilla PR, Darbha S. Vehicle platooning with multiple vehicle look-ahead information. IFAC-PapersOnLine. 2017;50(1):5768-5773. https://doi.org/10.1016/j.ifacol.2017.08.415
• [23] Ulsoy AG, Peng H, Çakmakci M. Automotive control sys-tems. Cambridge University Press; 2012.
• [24] Ibrahim A, Goswami D, Li H, Soroa IM, Basten T. Multi-layer multi-rate model predictive control for vehicle platoon-ing under IEEE 802.11 p. Transportation Research Part C: Emerging Technologies. 2021;124:102905. https://doi.org/ 10.1016/j.trc.2020.102905