Enabling cooperative adaptive cruise control on strings of vehicles with heterogeneous dynamics and powertrains

Flores, Carlos; Spring, John; Nelson, David; Iliev, Simeon; Lu, Xiao-Yun

doi:10.1080/00423114.2022.2042568

Enabling cooperative adaptive cruise control on strings of vehicles with heterogeneous dynamics and powertrains

Journal Article · Tue Mar 01 00:00:00 EST 2022 · Vehicle System Dynamics

DOI:https://doi.org/10.1080/00423114.2022.2042568· OSTI ID:1909015

Flores, Carlos ^[1]; Spring, John ^[1]; Nelson, David ^[1]; Iliev, Simeon ^[2]; Lu, Xiao-Yun ^[3]

University of California Berkeley, Richmond, CA (United States)
Argonne National Laboratory (ANL), Lemont, IL (United States)
University of California Berkeley, Richmond, CA (United States); Lawrence Berkeley National Laboratory (LBNL), Richmond, CA (United States)

Recent studies have shown that positive impact of Cooperative Adaptive Cruise Control (CACC) can only be guaranteed as market penetration rate increases. Removing the string homogeneity constraint is essential to encourage widespread adoption. In this work, a hierarchical architecture is proposed to enable CACC on vehicles with not only mixed dynamics but also different powertrain types. A low-level layer deals with the vehicle and powertrain dynamics to provide accurate and consistent reference speed tracking response. The high-level layer uses: (1) a Linear Parameter Varying feedback system to provide loop stability, robustness and enforce a variable time gap policy and (2) a feedforward system that processes Vehicle-to-Vehicle information to enhance string stability and response bandwidth, by dealing with the string heterogeneity. A gap management strategy is built on top of the CACC architecture to handle gap setting changes or cut-in/out situations, via a dynamics constrained time gap trajectory planning algorithm. We report the proposed work has been designed, developed and validated on three different real passenger vehicles on public highways and test tracks, showing the potential of the proposed algorithm to enable robust string stable CACC, despite the different dynamics and powertrains considered.

View Accepted Manuscript (DOE)

Research Organization:: Argonne National Laboratory (ANL)

Sponsoring Organization:: USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office

Grant/Contract Number:: AC02-06CH11357

OSTI ID:: 1909015

Journal Information:: Vehicle System Dynamics, Journal Name: Vehicle System Dynamics Journal Issue: 1 Vol. 61; ISSN 0042-3114

Publisher:: Taylor & FrancisCopyright Statement

Country of Publication:: United States

Language:: English

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Related Subjects

33 ADVANCED PROPULSION SYSTEMS
Adaptive
CACC
Control
Cooperative
Cruise
Dynamics
String
Vehicle

Enabling cooperative adaptive cruise control on strings of vehicles with heterogeneous dynamics and powertrains

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References (23)

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