Abstract
In design of a controller for ACC, the control algorithm should guarantee the string stability, which means that amplitudes of the spacing vibration should not get amplified as they propagate upstream from vehicle to vehicle. In the ACC where a controller uses information of an inter-vehicle distance and a relative velocity, it is difficult for heavy-duty vehicles to guarantee the string stability at time-headway control with short headway time due to their slow response characteristics of acceleration. This study proposes the longitudinal control algorithm for CACC (Cooperative Adaptive Cruise Control system) using information of the preceding vehicle obtained by the inter-vehicle communication. In the proposed controller-vehicle system, the string stability is guaranteed regardless of feedback gains and the propagation of vibration of the preceding vehicles’ accelerations is effectively attenuated. The proposed control is validated by simulations and experiments using four heavy-duty vehicles.
