AUTHOR: Lorenzo Redi
RELATOR: Stefania Santini
CO-TRELATOR: Erjen Lefeber
TUTOR: Aniello Mungiello
ABSTRACT: Cooperative Adaptive Cruise Control (CACC) enables vehicles to follow each other with a shorter inter-vehicle distance ensuring string stability and increasing of road throughput and safety. Leveraging wireless communication technology, CACC facilitates data exchange between vehicles and infrastructure, thereby improving traffic efficiency. To accurately describe the vehicles within a platoon, this study adopts a first order longitudinal dynamics model extended with input delay. The presence of delay can affect the overall platoon behavior posing a risk of string instability and control objective. To mitigate this risk, a controller is designed to operate in a platoon of heterogeneous vehicle affected by drivetrain delay. This controller incorporates a predictive feedback law that utilizes filtered acceleration signal, through an observer, and measured spacing error to compensate the delay and restore string stability. After designing the controller in continuous time and provide a closed loop stability analysis, a discrete time analysis is conducted to determine the sampling time required for the controller to achieve string stability and meet control objective of the platoon. Simulation results are shown to verify the theoretical analysis.
