Experimental Validation on Connected Cruise Control With Flexible Connectivity Topologies

In this paper, we investigate experimentally the impact of connected automated vehicles on the dynamics of vehicle chains with different connectivity topologies. We utilize a scaled connected vehicle testbed consisting of ground robots that can mimic the dynamics of human-driven and connected automa...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2019-12, Vol.24 (6), p.2791-2802
Main Authors: Qin, Wubing B., Orosz, Gabor
Format: Article
Language:English
Subjects:
Attenuation
Automation
Connected automated vehicles (CAVs)
Connectivity
Cruise control
ground robots
Impact strength
Longitudinal control
Mechatronics
Robot sensing systems
Stability analysis
Stability criteria
string stability
Topology
Traffic flow
vehicle-to-vehicle (V2V) communication
Vehicles
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Summary:In this paper, we investigate experimentally the impact of connected automated vehicles on the dynamics of vehicle chains with different connectivity topologies. We utilize a scaled connected vehicle testbed consisting of ground robots that can mimic the dynamics of human-driven and connected automated vehicles. We derive analytical conditions for stability and disturbance attenuation (i.e., string stability) while taking into account digital effects and delays and validate the corresponding stability diagrams experimentally. The flexibility and robustness of vehicle-to-everything (V2X) based longitudinal control among human-driven vehicles is evaluated for different connectivity topologies and the impacts of connected automated vehicles on traffic flow are highlighted.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2943501