Graceful degradation of CACC performance subject to unreliable wireless communication
conference paper
Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as packet loss, in which case it would effectively degrade to conventional Adaptive Cruise Control (ACC), thereby increasing the minimal intervehicle distance needed for string-stable behavior. Therefore, a control strategy for graceful degradation of one-vehicle look-ahead CACC is proposed to partially maintain the string stability properties of CACC. This strategy is based on estimating the preceding vehicle's information, here acceleration, using the onboard sensors. Whenever needed, this estimated acceleration can be used as an alternative to the desired acceleration transmitted through wireless communication for this type of CACC. It is shown through simulations and experiments that the proposed strategy results in a noticeable improvement of string stability characteristics, when compared to the situation in which ACC is used as a fallback scenario. © 2013 IEEE.
Topics
TNO Identifier
493016
ISBN
9781479929146
Article nr.
6728397
Source title
2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013, 6 October 2013 through 9 October 2013, The Hague
Pages
1210-1216
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