Table of Contents Author Guidelines Submit a Manuscript
Journal of Advanced Transportation
Volume 2017, Article ID 1023654, 16 pages
https://doi.org/10.1155/2017/1023654
Research Article

Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

Center for Environmental Research and Technology, University of California, Riverside, Riverside, CA, USA

Correspondence should be addressed to Ziran Wang; ude.rcu@050gnawz

Received 27 February 2017; Revised 13 May 2017; Accepted 19 June 2017; Published 6 August 2017

Academic Editor: Meng Wang

Copyright © 2017 Ziran Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. D. Jia, K. Lu, J. Wang, X. Zhang, and X. Shen, “A survey on platoon-based vehicular cyber-physical systems,” IEEE Communications Surveys & Tutorials, vol. 18, no. 1, pp. 263–284, 2015. View at Publisher · View at Google Scholar
  2. USDOT, Traffice Safety Facts—Research Note, August 2016, https://crashstats.nhtsa.dot.gov/Api/Public/ViewPublication/812318.
  3. INRIX, INRIX 2016 Traffic Scorecard; New Methodology Allows Deeper Insight into Congestion in the U.S., February 2017, http://inrix.com/blog/2017/02/inrix-2016-traffic-scorecard-new-methodology-allows-deeper-insight-into-congestion-in-the-u-s/.
  4. USDOE, Fuel Wasted in Traffic Congestion, November 2, 2015, https://energy.gov/eere/vehicles/fact-897-november-2-2015-fuel-wasted-traffic-congestion.
  5. R. Rajamani and S. E. Shladover, “Experimental comparative study of autonomous and co-operative vehicle-follower control systems,” Transportation Research Part C: Emerging Technologies, vol. 9, no. 1, pp. 15–31, 2001. View at Publisher · View at Google Scholar · View at Scopus
  6. Z. Wang, G. Wu, and M. Barth, “Developing a distributed consensus-based Cooperative Adaptive Cruise Control (CACC) system,” in Proceedings of the Transportation Research Board 96th Annual Meeting, January 2017.
  7. Y. Zheng, S. E. Li, J. Wang, L. Y. Wang, and K. Li, “Influence of information flow topology on closed-loop stability of vehicle platoon with rigid formation,” in Proceedings of the 17th IEEE International Conference on Intelligent Transportation Systems (ITSC '14), pp. 2094–2100, October 2014. View at Publisher · View at Google Scholar · View at Scopus
  8. C. Lei, E. M. Van Eenennaam, W. K. Wolterink, G. Karagiannis, G. Heijenk, and J. Ploeg, “Impact of packet loss on CACC string stability performance,” in Proceedings of the 11th International Conference on ITS Telecommunications (ITST '11), pp. 381–386, August 2011. View at Publisher · View at Google Scholar · View at Scopus
  9. G. J. L. Naus, R. P. A. Vugts, J. Ploeg, M. J. G. van de Molengraft, and M. Steinbuch, “String-stable CACC design and experimental validation: a frequency-domain approach,” IEEE Transactions on Vehicular Technology, vol. 59, no. 9, pp. 4268–4279, 2010. View at Publisher · View at Google Scholar · View at Scopus
  10. M. Di Bernardo, A. Salvi, and S. Santini, “Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays,” IEEE Transactions on Intelligent Transportation Systems, vol. 16, no. 1, pp. 102–112, 2015. View at Publisher · View at Google Scholar · View at Scopus
  11. X.-Y. Lu, J. K. Hedrick, and M. Drew, “ACC/CACC—control design, stability and robust performance,” in Proceedings of the 2002 American Control Conference, vol. 6, pp. 4327–4332, Anchorage, Alaska, USA, May 2002. View at Scopus
  12. R. E. Wilson and J. A. Ward, “Car-following models: fifty years of linear stability analysis—a mathematical perspective,” Transportation Planning and Technology, vol. 34, no. 1, pp. 3–18, 2011. View at Publisher · View at Google Scholar · View at Scopus
  13. Z. Wang, G. Wu, P. Hao, K. Boriboonsomsin, and M. J. Barth, “Developing a platoon-wide eco-Cooperative Adaptive Cruise Control (CACC) system,” in Proceedings of the IEEE Intelligent Vehicles Symposium, 2017.
  14. P. Hao, Z. Wang, G. Wu, K. Boriboonsomsin, and M. J. Barth, “Intra-platoon vehicle sequence optimization for eco-cooperative adaptive cruise control,” in Proceedings of the 20th International IEEE Conference on Intelligent Transportation Systems (ITSC '17), 2017.
  15. M. Amoozadeh, H. Deng, C.-N. Chuah, H. M. Zhang, and D. Ghosal, “Platoon management with cooperative adaptive cruise control enabled by VANET,” Vehicular Communications, vol. 2, no. 2, pp. 110–123, 2015. View at Publisher · View at Google Scholar · View at Scopus
  16. A. A. Peters, R. H. Middleton, and O. Mason, “Leader tracking in homogeneous vehicle platoons with broadcast delays,” Automatica, vol. 50, no. 1, pp. 64–74, 2014. View at Publisher · View at Google Scholar · View at MathSciNet
  17. J. Laumônier, C. Desjardins, and B. Chaib-draa, “Cooperative adaptive cruise control: a reinforcement learning approach,” in Proceedings of the 4th Workshop on Agents in Traffic and Transportation (ATT '06), pp. 1–9, Hakodate, Japan, 2006.
  18. W. H. Van Willigen, M. C. Schut, and L. J. H. M. Kester, “Approximating safe spacing policies for adaptive cruise control strategies,” in Proceedings of the IEEE Vehicular Networking Conference (VNC '11), pp. 9–16, November 2011.
  19. W. B. Qin, M. M. Gomez, and G. Orosz, “Stability analysis of connected cruise control with stochastic delays,” in Proceedings of the American Control Conference (ACC '14), pp. 4624–4629, June 2014. View at Publisher · View at Google Scholar · View at Scopus
  20. D. Swaroop and J. K. Hedrick, “String stability of interconnected systems,” IEEE Transactions on Automatic Control, vol. 41, no. 3, pp. 349–355, 1996. View at Google Scholar
  21. H. Xing, J. Ploeg, and H. Nijmeijer, “Padé approximation of delays in cooperative ACC based on string stability requirements,” IEEE Transactions on Intelligent Vehicles, vol. 1, no. 3, pp. 277–286, 2016. View at Publisher · View at Google Scholar
  22. K. Santhanakrishnan and R. Rajamani, “On spacing policies for highway vehicle automation,” IEEE Transactions on Intelligent Transportation Systems, vol. 4, no. 4, pp. 198–204, 2003. View at Publisher · View at Google Scholar · View at Scopus
  23. USDOT, Connected Vehicle Reference Implementation Architecture-Applications, https://www.iteris.com/cvria/html/applications/applications.html.
  24. F. Bai, D. D. Stancil, and H. Krishnan, “Toward understanding characteristics of dedicated short range communications (DSRC) from a perspective of vehicular network engineers,” in Proceedings of the 16th Annual Conference on Mobile Computing and Networking (MobiCom '10), pp. 329–340, ACM, September 2010. View at Publisher · View at Google Scholar · View at Scopus
  25. Q. Chen, D. Jiang, and L. Delgrossi, “IEEE 1609.4 DSRC multi-channel operations and its implications on vehicle safety communications,” in Proceedings of the IEEE Vehicular Networking Conference (VNC '09), pp. 1–8, Tokyo, Japan, October 2009. View at Publisher · View at Google Scholar · View at Scopus
  26. R. Miucic, Z. Popovic, and S. M. Mahmud, “Experimental characterization of DSRC signal strength drops,” in Proceedings of the 12th International IEEE Conference on Intelligent Transportation Systems (ITSC '09), pp. 311–315, October 2009. View at Publisher · View at Google Scholar · View at Scopus
  27. S. Santini, A. Salvi, A. S. Valente, A. Pescapè, M. Segata, and R. Lo Cigno, “A consensus-based approach for platooning with inter-vehicular communications,” in Proceedings of the 34th IEEE Annual Conference on Computer Communications and Networks (INFOCOM '15), pp. 1158–1166, May 2015. View at Publisher · View at Google Scholar · View at Scopus
  28. R. Olfati-Saber, J. A. Fax, and R. M. Murray, “Consensus and cooperation in networked multi-agent systems,” Proceedings of the IEEE, vol. 95, no. 1, pp. 215–233, 2007. View at Publisher · View at Google Scholar · View at Scopus
  29. W. Ren and E. M. Atkins, “Second-order consensus protocols in multiple vehicle systems with local interactions,” in Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, Calif, USA, 2005. View at Publisher · View at Google Scholar
  30. R. Kianfar, B. Augusto, A. Ebadighajari et al., “Design and experimental validation of a cooperative driving system in the grand cooperative driving challenge,” IEEE Transactions on Intelligent Transportation Systems, vol. 13, no. 13, pp. 994–1007, 2012. View at Publisher · View at Google Scholar · View at Scopus
  31. R. Horowitz, C.-W. Tan, and X. Sun, “An efficient lane change maneuver for platoons of vehicles in an automated highway system,” California PATH Research Report UCB-ITS-PRR-2004-16, University of California Berkeley, 2004. View at Google Scholar
  32. S. E. Shladover, C. Nowakowski, X.-Y. Lu, and R. Ferlis, “Cooperative Adaptive Cruise Control (CACC) definitions and operating concepts,” in Proceedings of the Transportation Research Board 94th Annual Meeting, pp. 145–152, January 2015.
  33. MathWorks, Simulink, http://www.mathworks.com/products/simulink/index.html?s_tid=gn_loc_drop.
  34. W. Yang, A. L. Bertozzi, and X. Wang, “Stability of a second order consensus algorithm with time delay,” in Proceedings of the 47th IEEE Conference on Decision and Control (CDC '08), pp. 2926–2931, IEEE, Cancún, Mexico, December 2008. View at Publisher · View at Google Scholar · View at Scopus
  35. J. Zhu, “Maximum consensus speed of multi-agent network systems under a kind of dynamics consensus protocols,” in Proceedings of the IEEE 25th Annual Conference on Computational Complexity (CCC '10), pp. 796–800, 2010.
  36. P. Seiler, B.-S. Song, and J. K. Hedrick, “Application of nonlinear control to a collision avoidance system,” in Proceedings of the 5th World Congress on Intelligent Transport Systems (ITS '98), 1998.
  37. K. Yi and J. Chung, “Nonlinear brake control for vehicle CW/CA systems,” IEEE/ASME Transactions on Mechatronics, vol. 6, no. 1, pp. 17–25, 2001. View at Publisher · View at Google Scholar · View at Scopus
  38. C. C. Lee, “Fuzzy logic in control systems: fuzzy logic controller—part I,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 20, no. 2, pp. 404–418, 1990. View at Google Scholar
  39. J. Hu and Y. Hong, “Leader-following coordination of multi-agent systems with coupling time delays,” Physica A: Statistical Mechanics and its Applications, vol. 374, no. 2, pp. 853–863, 2007. View at Publisher · View at Google Scholar · View at Scopus
  40. R. A. Horn and C. R. Johnson, Matrix Analysis, Cambridge University Press, 1990. View at MathSciNet
  41. J. K. Hale and S. M. L. Verduyn, Introduction to Functional-Differential Equations, Springer Science & Business Media, 2013. View at MathSciNet