Abstract
Cooperative Adaptive Cruise Control (CACC) systems uses wireless connectivity to guarantee string stability for platooning, which Adaptive Cruise Control (ACC) fails to provide. One of the constraints that hinders widespread adoption of CACC is that almost all developments and real validations have been done on strings of identical vehicles. This chapter summarizes the most recent efforts in the development of a generic control architecture that enables CACC on strings of vehicles of different makes/models/types, dynamics and powertrains. The developed hierarchical approach has demonstrated feasibility of CACC system on real vehicles, even at short time gaps. It is also robust in handling cut-in and cut-out maneuvers of other vehicles in public traffic.
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Acknowledgments
This research was supported by the U.S. Department of Energy (DOE) Vehicle Technologies Office (VTO) under the Systems and Modeling for Accelerated Research in Transportation (SMART) Mobility Laboratory Consortium, an initiative of the Energy Efficient Mobility Systems (EEMS) Program under the direction of Mr. David Anderson, with support of the Project Manager Erin Boyd and Danielle Chou who are gratefully acknowledged.
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Flores, C., Lu, XY., Spring, J., Iliev, S. (2022). Generic Cooperative Adaptive Cruise Control Architecture for Heterogeneous Strings of Vehicles. In: Meyer, G., Beiker, S. (eds) Road Vehicle Automation 8. AVS 2020 2020. Lecture Notes in Mobility. Springer, Cham. https://doi.org/10.1007/978-3-030-80063-5_9
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DOI: https://doi.org/10.1007/978-3-030-80063-5_9
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