Padé approximation of delays in CACC-controlled string-stable platoons
conference paper
Cooperative Adaptive Cruise Control (CACC) improves road throughput by employing intervehicle wireless communications. The inherent communication time delay significantly limits the minimum inter-vehicle distance in view of string stability. Applying a Padé approximation leads to a model with a rational transfer function, which allows many control methods to compensate for this delay to a certain extent. Our objective is to find the lowest possible order of Padé approximations, which is sufficiently accurate in view of string stability. To this end, the minimum string-stable time gaps are chosen as the main criterion against which the quality of the Pad´e approximations is measured. The results indicate that it is feasible to apply a 2nd-order Padé approximation in the given CACC system.
Topics
Adaptive cruise controlAdvanced vehicle control systemsControl system synthesisCooperative communicationDelay control systemsRational functionsTime delayVehiclesWireless telecommunication systemsCommunication time delaysControl methodsCooperative adaptive cruise controlRational transfer functionsStable timeString stabilityWireless communications
TNO Identifier
756664
ISBN
9781315265285
Publisher
CRC Press/Balkema
Source title
13th International Symposium on Advanced Vehicle Control, AVEC 2016. 13 September 2016 through 16 September 2016
Editor(s)
Pfeffer P.E.
Edelmann J.
Plochl M.
Edelmann J.
Plochl M.
Pages
99-104
Files
To receive the publication files, please send an e-mail request to TNO Repository.