Synthesis of Cooperative Adaptive Cruise Control with Feedforward Strategies

Authors

Yuanheng Zhu, Chinese Academy of Sciences
Dongbin Zhao, Chinese Academy of Sciences
Haibo He, University of Rhode IslandFollow

Document Type

Article

Date of Original Version

4-1-2020

Abstract

Cooperative adaptive cruise control (CACC) technique enhances the coordination of vehicles on road. Through CACC controllers, the platoon can exhibit promising traffic performance. In this paper, we study the control synthesis for two types of CACC systems, one of which uses acceleration feedforward while the other uses control feedforward. Under the predecessor-following topology, a general state-space model of vehicle platoon is established and the CACC characteristics including stabilization and string stability are realized by a set of constraints. To relax computation, complete quadratic Lyapunov-Krasovskii functionals are adopted and the CACC controllers are solved by linear matrix inequality tools. The proposed method provides a computationally efficient way to realize CACC design, and comparative experiments with existing work demonstrate the advantages.

Publication Title, e.g., Journal

IEEE Transactions on Vehicular Technology

Volume

69

Issue

4

Citation/Publisher Attribution

Zhu, Yuanheng, Dongbin Zhao, and Haibo He. "Synthesis of Cooperative Adaptive Cruise Control with Feedforward Strategies." IEEE Transactions on Vehicular Technology 69, 4 (2020): 3615-3627. doi: 10.1109/TVT.2020.2974932.