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首页> 外文期刊>Intelligent Transportation Systems, IEEE Transactions on >Cooperative Adaptive Cruise Control: Network-Aware Analysis of String Stability
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Cooperative Adaptive Cruise Control: Network-Aware Analysis of String Stability

机译：协作自适应巡航控制：字符串稳定性的网络感知分析

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摘要

In this paper, we consider a Cooperative Adaptive Cruise Control (CACC) system, which regulates intervehicle distances in a vehicle string, for achieving improved traffic flow stability and throughput. Improved performance can be achieved by utilizing information exchange between vehicles through wireless communication in addition to local sensor measurements. However, wireless communication introduces network-induced imperfections, such as transmission delays, due to the limited bandwidth of the network and the fact that multiple nodes are sharing the same medium. Therefore, we approach the design of a CACC system from a Networked Control System (NCS) perspective and present an NCS modeling framework that incorporates the effect of sampling, hold, and network delays that occur due to wireless communication and sampled-data implementation of the CACC controller over this wireless link. Based on this network-aware modeling approach, we develop a technique to study the so-called string stability property of the string, in which vehicles are interconnected by a vehicle following control law and a constant time headway spacing policy. This analysis technique can be used to investigate tradeoffs between CACC performance (string stability) and network specifications (such as delays), which are essential in the multidisciplinary design of CACC controllers. Finally, we demonstrate the validity of the presented framework in practice by experiments performed with CACC-equipped prototype vehicles.
机译：在本文中，我们考虑了一种协作式自适应巡航控制（CACC）系统，该系统可调节车串中的行车距离，以提高交通流量的稳定性和吞吐量。除本地传感器测量值外，还可以通过无线通信利用车辆之间的信息交换来提高性能。但是，由于网络带宽有限以及多个节点共享同一介质这一事实，无线通信会引入网络导致的不完善之处，例如传输延迟。因此，我们从网络控制系统（NCS）的角度着手设计CACC系统，并提出了一个NCS建模框架，该框架融合了由于无线通信和网络的采样数据实现而产生的采样，保持和网络延迟的影响。通过此无线链接的CACC控制器。基于这种网络感知的建模方法，我们开发了一种技术，用于研究所谓的“字符串稳定性”（italic）字符串稳定性，其中，通过控制律和恒定的时距间距，通过车辆将车辆相互连接政策。此分析技术可用于研究CACC性能（字符串稳定性）和网络规格（例如延迟）之间的折衷，这在CACC控制器的多学科设计中至关重要。最后，我们通过配备CACC的原型车进行的实验证明了所提出框架在实践中的有效性。

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